Download 20D-UM003 - Rockwell Automation

DriveLogix™ 5730
Controller
for PowerFlex® 700S Drives
with Phase II Control
Firmware Version
15.04
User Manual
Important User Information
Solid state equipment has operational characteristics differing from those of
electromechanical equipment. Safety Guidelines for the Application, Installation
and Maintenance of Solid State Controls (Publication SGI-1.1 available from your
local Rockwell Automation sales office or online at http://
www.rockwellautomation.com/literature) describes some important differences
between solid state equipment and hard-wired electromechanical devices. Because
of this difference, and also because of the wide variety of uses for solid state
equipment, all persons responsible for applying this equipment must satisfy
themselves that each intended application of this equipment is acceptable.
In no event will Rockwell Automation, Inc. be responsible or liable for indirect or
consequential damages resulting from the use or application of this equipment.
The examples and diagrams in this manual are included solely for illustrative
purposes. Because of the many variables and requirements associated with any
particular installation, Rockwell Automation, Inc. cannot assume responsibility or
liability for actual use based on the examples and diagrams.
No patent liability is assumed by Rockwell Automation, Inc. with respect to use of
information, circuits, equipment, or software described in this manual.
Reproduction of the contents of this manual, in whole or in part, without written
permission of Rockwell Automation, Inc. is prohibited.
Throughout this manual, when necessary we use notes to make you aware of safety
considerations.
!
WARNING: Identifies information about practices or
circumstances that can cause an explosion in a hazardous
environment, which may lead to personal injury or death, property
damage, or economic loss.
Important: Identifies information that is critical for successful application
and understanding of the product.
!
ATTENTION: Identifies information about practices or
circumstances that can lead to personal injury or death, property
damage, or economic loss. Attentions help you:
• identify a hazard
• avoid the hazard
• recognize the consequences
Shock Hazard labels may be located on or inside the equipment
(e.g., drive or motor) to alert people that dangerous voltage may
be present.
Burn Hazard labels may be located on or inside the equipment
(e.g., drive or motor) to alert people that surfaces may be at
dangerous temperatures.
PowerFlex is a registered trademark of Rockwell Automation, Inc.
DriveExplorer, DriveExecutive, and SCANport are trademarks of Rockwell Automation, Inc.
PLC is a registered trademark of Rockwell Automation, Inc.
Summary of Changes
Manual Updates
This information summarizes the changes to the DriveLogix5730 Controller
for PowerFlex 700S Drives with Phase II Control, publication 20D-UM003,
since the July 2004 release.
Change
Added information for contacting Technical Support and updated Controller Firmware
Revision information
Updated information and example for specifying task priorities
Updated information on controller fault response settings
See Page...
Preface-2
1-7
3-2, 3-6, 3-8,
and 3-12
Updated the System Requirements for configuring DriveLogix Motion
4-1
Updated the Coarse Update Period setting from 4ms to 2ms
4-9
Updated the tables for parameter links and parameter settings for configuring
4-18 and
DriveLogix Motion
4-19
Updated the Communicating with Devices on an EtherNet/IP Link procedures to reflect 6-4
the support of duplicate IP address detection.
Added information regarding updated MSG packet size.
6-19
Added information regarding updated MSG packet size.
7-9
Added a new Appendix for application restrictions
C-1
soc-2
Table of Contents
Important User Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Summary of
Changes
Manual Updates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . i-1
Preface
Overview
Who Should Use This Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Purpose of this Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Related Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contacting Tech Support. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Controller Firmware Revision. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Chapter 1
P-1
P-1
P-2
P-2
P-3
P-3
What is DriveLogix5730?
Loading Controller Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Using CompactFlash . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
Developing Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
Selecting a System Overhead Percentage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
Understanding the Virtual Backplane . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12
Chapter 2
Placing and Configuring the Drive
De-energizing the Drive to Connect or Disconnect a Cable . . . . . . . . . . . . . . . . . . . . . . . 2-1
Understanding the Interface to the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
Determining When the Controller Updates the Drive. . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Placing and Configuring the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
Inhibiting the Drive Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11
Using DriveExecutive Lite . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
Accessing Drive Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
Monitoring Drive Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-21
Configuring the Controller’s Response to a Connection Failure . . . . . . . . . . . . . . . . . . 2-22
Recommended Programming Techniques. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-25
Chapter 3
Placing and Configuring Local I/O
De-energizing the Drive to Connect or Disconnect a Cable . . . . . . . . . . . . . . . . . . . . . . . 3-1
Understanding How the DriveLogix5730 Supports
I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1
Placing Local I/O Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
Validating I/O Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Estimating RPI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
Determining When the Controller Updates I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
Configuring the CompactBus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
Configuring Local I/O Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7
Accessing I/O Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12
Direct Connections for I/O Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14
Monitoring I/O Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-15
Configuring I/O Modules Using the Generic 1769-MODULE . . . . . . . . . . . . . . . . . . . 3-17
ii
Chapter 4
Configuring DriveLogix Motion
De-energizing the Drive to Connect or Disconnect a Cable . . . . . . . . . . . . . . . . . . . . . . . 4-1
About this Chapter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
System Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1
Programming the Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
Launching DriveExecutive from RSLogix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
Configuring the Drive with DriveExecutive Software. . . . . . . . . . . . . . . . . . . . . . . . . . . 4-16
Downloading the Settings and Links to the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
Additional Testing and Programming is Necessary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-20
Supported Motion Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21
Chapter 5
Communicating with Devices on a Serial Link
De-energizing the Drive to Connect or Disconnect a Cable . . . . . . . . . . . . . . . . . . . . . . . 5-1
Configuring Your System for a Serial Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1
Example 1: Workstation Directly Connected to a DriveLogix Controller. . . . . . . . . . . . . 5-6
Example 2: Workstation Remotely Connected to a DriveLogix Controller . . . . . . . . . . . 5-7
Example 3: DriveLogix Controller to a Bar Code Reader. . . . . . . . . . . . . . . . . . . . . . . . 5-10
Chapter 6
Communicating with Devices on an EtherNet/IP Link
De-energizing the Drive to Connect or Disconnect a Cable . . . . . . . . . . . . . . . . . . . . . . . 6-1
Communicating Through the Embedded EtherNet/IP Option. . . . . . . . . . . . . . . . . . . . . . 6-2
Controller Connections Over EtherNet/IP. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-11
Configuring Distributed I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-12
Adding a Remote Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15
Producing and Consuming Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15
Using a MSG Instruction to Send an Email. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-24
Example 1: DriveLogix5730 Controller and
Distributed I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31
Example 2: Controller to Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-32
Chapter 7
Communicating with Devices on a ControlNet Link
De-energizing the Drive to Connect or Disconnect a Cable . . . . . . . . . . . . . . . . . . . . . . . 7-1
Configuring Your System for a ControlNet Link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
Configuring Distributed I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
Scheduling the ControlNet Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
Sending Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9
Producing and Consuming Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-14
Guidelines for Configuring Connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-17
Example 1: DriveLogix Controller and Remote I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-18
Example 2: DriveLogix5730 Controller to DriveLogix5730 Controller . . . . . . . . . . . . . 7-19
Example 3: DriveLogix Controller to Other Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-22
Chapter 8
Communicating with Devices on a DeviceNet Link
De-energizing the Drive to Connect or Disconnect a Cable . . . . . . . . . . . . . . . . . . . . . . . 8-1
Example: Controlling I/O Over DeviceNet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
iii
Chapter 9
Communicating with Devices on a DH485 Link
De-energizing the Drive to Connect or Disconnect a Cable . . . . . . . . . . . . . . . . . . . . . . .
Understanding How the DriveLogix5730 Controller Supports DH485 Communications
Configuring Your System for a DH-485 Link. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Planning a DH-485 Network. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installing a DH-485 Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Browsing a DH-485 Network Remotely . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Appendix A
DriveLogix5730 Controller Specifications
DriveLogix5730 Controller Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriveLogix5730 Environmental Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DriveLogix5730 Certifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Real-Time Clock Accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Controller LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Embedded EtherNet/IP Option LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Battery Life . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Appendix B
A-1
A-1
A-2
A-2
A-3
A-6
A-8
Access Procedures
Removing Power from Drive and Compact I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Opening Door Over Power Structure and Main Control Board . . . . . . . . . . . . . . . . . . . .
Removing the Control Cassette from Frame 1-6 Size Drives . . . . . . . . . . . . . . . . . . . . . .
Removing the Outside Covers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Removing the Inside Cover. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connecting the Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Replacing the Battery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installing the Embedded EtherNet/IP Option Board. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installing the DriveLogix5730 Expansion Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installing the Compact I/O Cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Installing the Communications Daughtercard. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Appendix C
9-1
9-1
9-2
9-4
9-6
9-9
B-1
B-2
B-2
B-3
B-3
B-4
B-5
B-7
B-7
B-8
B-9
Application Restrictions
Additional Memory Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1
Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C-1
Hold Last State and User-Defined Safe State Not Supported . . . . . . . . . . . . . . . . . . . . . . C-3
Index
iv
Preface
Overview
Who Should Use This
Manual
This manual is intended for qualified personnel. You must be able to
program and operate Adjustable Frequency AC Drive devices and
programmable controllers.
Purpose of this Manual
This manual guides the development of projects for DriveLogix controllers.
It provides procedures on how to establish communications:
• with the following networks
– ControlNet
– DeviceNet
– EtherNet/IP
– serial
• with the following devices
– PowerFlex® 700S drive
– controllers
– I/O
– workstations
– PanelView terminals
p-2
Overview
Related Documentation
Allen-Bradley publications are available on the internet at
www.rockwellautomation.com/literature.
These core documents address the Logix5000 family of controllers:
If you are:
a new user of a Logix5000 controller
Use this publication:
Logix5000 Controllers Quick Start
publication 1756-QS001
This quick start provides a visual, step-by-step overview of the basic steps
you need to complete to get your controller configured and running.
an experienced user of Logix5000 controllers
Logix5000 Controllers System Reference
publication 1756-QR107
This system reference provides a high-level listing of configuration
information, controller features, and instructions (ladder relay, function
block diagram, and structured text).
any user of a Logix5000 controller
Logix5000 Controllers Common Procedures
publication 1756-PM001
This common procedures manual explains the common features and
functions of all Logix5000 controllers.
DriveLogix-specific information is also available:
For
Information on the DriveLogix Instruction Set
Information on function block programming Logix controllers.
Execution times and memory use for instructions
Information on selecting CompactLogix and Compact I/O
components and modules
Information on installing, configuring, and using Compact
Analog I/O modules
Information on installing, configuring and using PowerFlex®
700S drives
Information on the DriveLogix Motion Control Instruction Set
Information on installing an ControlNet communications
daughtercard (Coax)
Information on installing an ControlNet communications
daughtercard (Fiber)
Information on installing an EtherNet/IP communications
daughtercard
Information on installing an DeviceNet communications
daughtercard
Information on installing 1769-SDN DeviceNet Scanner
Module
Information on using 1769-SDN DeviceNet Scanner Module
Information on converting from Phase I PowerFlex 700S and
DriveLogix5720 to Phase II PowerFlex 700S and
DriveLogix5730
Information on the basic installation of PowerFlex 700S drives
and DriveLogix5730 controllers
Contacting Tech Support
Read this document
Logix5000 Controllers General Instruction Set Reference
Manual
Logix5000 Controllers Process Control/Drives Instruction
Set Reference Manual
Logix5000 Controllers Execution Time and Memory Use
Reference Manual
Compact I/O Selection Guide
Document number
1756-RM003…
1756-RM006…
1756-RM087…
1769-SG001…
Compact I/O Analog Modules User Manual
1769-UM002…
PowerFlex 700S Phase II User Manual
20D-UM006…
Logix Controller Motion Instruction Set
ControlNet Communications Daughtercard Installation
Instructions
ControlNet Communications Daughtercard Installation
Instructions
EtherNet/IP Communications Daughtercard Installation
Instructions
DeviceNet Communications Daughtercard Installation
Instructions
Compact I/O 1769-SDN DeviceNet Scanner Module
1756-RM007…
1788-IN002…
Compact I/O 1769-SDN DeviceNet Scanner Module
PowerFlex 700S Conversion Guide
Phase I to Phase II Control
1769-UM009…
20D-AT001…
1788-IN005…
1788-IN054…
1788-IN053…
1769-IN060…
Quick Start - PowerFlex 700S High Performance AC Drive 20D-QS001…
For Automation and Control Technical Support:
Title
Rockwell Automation Technical Support
Online at…
http://support.rockwellautomation.com/knowledgebase
Overview
Controller Firmware
Revision
p-3
This revision on the DriveLogix 5730 User Manual corresponds to the
following:
• Version 15.04 and later controller firmware
• Version 15.xx and later RSLogix 5000 programming software
• Version 3.02 and later DriveExecutive programming software
General Precautions
Class 1 LED Product
!
!
!
!
ATTENTION: Hazard of permanent eye damage exists when
using optical transmission equipment. This product emits intense
light and invisible radiation. Do not look into module ports or
fiber optic cable connectors.
ATTENTION: This drive contains ESD (Electrostatic
Discharge) sensitive parts and assemblies. Static control
precautions are required when installing, testing, servicing or
repairing this assembly. Component damage may result if ESD
control procedures are not followed. If you are not familiar with
static control procedures, reference A-B publication 8000-4.5.2,
“Guarding Against Electrostatic Damage” or any other applicable
ESD protection handbook.
ATTENTION: Only qualified personnel familiar with the
PowerFlex 700S Drive and associated machinery should plan or
implement the installation, start-up and subsequent maintenance
of the system. Failure to comply may result in personal injury
and/or equipment damage.
ATTENTION: To avoid an electric shock hazard, verify that the
voltage on the bus capacitors has discharged before performing
any work on the drive. Measure the DC bus voltage at the +DC &
–DC terminals of the Power Terminal Block. The voltage must be
zero.
p-4
Notes:
Overview
Chapter
1
What is DriveLogix5730?
The DriveLogix controller is part of the Logix environment. The
DriveLogix controller provides a distributed control system built on these
components:
• The DriveLogix5730 controller has one RS-232 port. The controller
supports the Logix instructions.
• RSLogix 5000 programming software that supports every Logix
controller.
• Direct connection to host PowerFlex 700S drive.
• Compact I/O modules that provide a compact, DIN-rail or panel
mounted I/O system.
• Embedded EtherNet/IP option provides communication over an
EtherNet/IP network.
• 1788 communication daughtercard that provides communication over a
standards-based ControlNet, EtherNet/IP, DeviceNet or third party
network.
The newer DriveLogix5730 controller offers significant performance and
capacity improvements over the DriveLogix5720 controller. It offers:
•
•
•
•
•
increased user memory up to 1.5 Mbytes
CompactFlash for non-volatile memory storage
extended I/O capacity up to 16 I/O modules
integrated EtherNet/IP support, including control of distributed I/O
Run/Rem/Prog switch
Remote
Work
Station
ahw0783.eps
EtherNet/IP
DriveLogix
with
Local I/O
ControlLogix
Controller
ControlNet
Flex I/O
PanelView
1-2
What is DriveLogix5730?
Loading Controller
Firmware
De-energizing the Drive to Connect or Disconnect a Cable
!
ATTENTION: Severe injury or death can result from electrical
shock or burn. Verify that the voltage on the bus capacitors has
discharged before connecting to the communication ports.
Measure the DC bus voltage at the +DC & -DC terminals on the
Power Terminal Block. The voltage must be zero.
During the process of loading controller firmware you will need to connect
or disconnect a programming or network cable at the controller. You should
do this only if the drive is de-energized.
1. Turn off and lock out input power. Wait five minutes.
2. Verify that there is no voltage at the drive’s input power terminals.
3. Measure the DC bus voltage at the +DC & -DC terminals on the Power
Terminal Block. The voltage must be zero.
4. Connect or disconnect the programming or network cable.
5. Turn power back on and proceed with loading firmware.
Loading Firmware
The controller ships with working firmware. You may decide to upgrade the
firmware. To load firmware, you can use:
• ControlFlash utility that ships with RSLogix 5000 programming
software.
• AutoFlash that launches through RSLogix 5000 software when you
download a project to a controller that does not have the current
firmware.
• a 1784-CF64 CompactFlash card with valid memory already loaded.
The firmware is available with RSLogix 5000 software or you can
download it from the support website:
1. Go to: http://support.rockwellautomation.com/
2. In the left column (frame), select “Firmware Updates” under “Technical
Support.”
3. Select the desired firmware revision.
The download process will require you to enter the serial number of your
RSLogix 5000 programming software.
If you load (flash) controller firmware via the ControlFlash or AutoFlash
utilities, you need a serial or EtherNet/IP connection to the controller.
Flashing via an EtherNet/IP connection is faster than the serial connection.
What is DriveLogix5730?
1-3
The controller’s EtherNet/IP configuration settings are maintained during a
flash process.
If you load firmware via an EtherNet/IP connection, browse through the
network port, across the virtual backplane, and select the appropriate
controller.
Using ControlFlash to load firmware
You can use ControlFlash to load firmware through either an Ethernet
connection (an IP address must already be assigned to the Ethernet port) or
a serial connection.
1. Make sure the appropriate network connection is made before starting.
2. Start the ControlFlash utility. Click Next when the Welcome screen
appears.
3. Select the catalog number of the controller and click Next.
4. Expand the network until you see the controller. If the required network
is not shown, first configure a driver for the network in RSLinx software.
If you use an Ethernet connection to load the firmware (which is much
faster than the serial connection), the utility will require a valid IP
address before connecting to the controller.
5. Select the controller and click OK.
6. Select the revision level to which you want to update the controller and
click Next.
7. To start the update of the controller, click Finish and then click Yes.
8. After the controller is updated, the status box displays Update complete.
Click OK.
9. To close ControlFlash software, click Cancel and then click Yes.
1-4
What is DriveLogix5730?
Using AutoFlash to load firmware
You can use AutoFlash to load firmware through either an Ethernet
connection (an IP address must already be assigned to the Ethernet port) or
a serial connection.
1. Make sure the appropriate network connection is made before starting.
2. Use RSLogix 5000 programming software to download a controller
project. If the processor firmware does not match that project revision,
AutoFlash automatically launches.
3. Select the catalog number of the controller and click Next.
4. Expand the network until you see the controller. If the required network
is not shown, first configure a driver for the network in RSLinx software.
If you use an Ethernet connection to load the firmware (which is much
faster than the serial connection), the utility will ask for a valid IP
address before connecting to the controller.
5. Select the controller and click OK.
6. Select the revision level to which you want to update the controller and
click Next.
7. To start the update of the controller, click Finish and then click Yes.
8. After the controller is updated, the status box displays Update complete.
Click OK.
9. To close AutoFlash software, click Cancel and then click Yes.
Using a CompactFlash card to load firmware
If you have an existing DriveLogix5730 controller that is already configured
and has firmware loaded, you can store the current controller user program
and firmware on CompactFlash and use that card to update other
controllers.
1. Store the controller user program and firmware of a currently configured
DriveLogix5730 controller to the CompactFlash card.
Make sure to select Load Image On Power-up when you save to the card.
2. Remove the card and insert it into a DriveLogix5730 controller that you
want to have the same firmware and controller user program.
3. When you power up the second DriveLogix5730 controller, the image
stored on the CompactFlash card is loaded into the controller.
What is DriveLogix5730?
Using CompactFlash
1-5
The 1784-CF64 CompactFlash card provides nonvolatile memory storage
for the DriveLogix5730 controller. The card stores the contents of the
controller memory (program logic and tag values) and the controller
firmware at the time that you store the project. Storing information to the
CompactFlash card is like storing a snapshot of controller memory at a
given time.
!
ATTENTION: If you configured the CompactFlash card to
“restore on power up” and you make changes to a project, such
as online edits or changes to tag values, you must store the
project to the CompactFlash card again after you make changes.
Otherwise, your changes are not saved and you will lose those
changes on the next power cycle to the controller.
Tag values stored in flash are a snapshot at the time of the store. During a
program restore the processor tag values will be equal to tag data stored on
flash.
The locking tab on the front of the controller helps hold the CompactFlash
card in its socket.
!
ATTENTION: Do not remove the CompactFlash card while the
controller is reading from or writing to the card, as indicated by a
flashing green CF LED. This could corrupt the data on the card
or in the controller, as well as corrupt the latest firmware in the
controller.
The CompactFlash card supports removal and insertion under power.
!
ATTENTION: When you insert or remove the card while
backplane power is on, an electrical arc can occur. This could
cause an explosion in hazardous location installations.
Be sure that power is removed or the area is nonhazardous before
proceeding. Repeated electrical arcing causes excessive wear to
contacts on both the module and its mating connector. Worn
contacts may create electrical resistance that can affect module
operation.
See the Logix5000 Controllers Common Procedures Programming Manual,
publication 1756-PM001, for steps on storing an image on the
CompactFlash card.
1-6
What is DriveLogix5730?
Developing Programs
The controller operating system is a preemptive multitasking system that is
IEC 1131-3 compliant. This environment provides:
• tasks to configure controller execution
• programs to group data and logic
• routines to encapsulate executable code written in a single programming
language
control application
controller fault handler
task 8
task 1
configuration
status
watchdog
program 32
program 1
program (local)
tags
main routine
fault routine
other routines
controller (global) tags
I/O data
system-shared data
40012.eps
Defining tasks
A task provides scheduling and priority information for a set of one or more
programs. You can configure tasks as continuous, periodic, or event. Only
one task can be continuous. The DriveLogix5730 controller supports as
many as eight tasks.
A task can have as many as 32 separate programs, each with its own
executable routines and program-scoped tags. Once a task is triggered
(activated), all the programs assigned to the task execute in the order in
which they are grouped. Programs can only appear once in the Controller
Organizer and cannot be shared by multiple tasks.
What is DriveLogix5730?
1-7
Specifying task priorities
Each task in the controller has a priority level. The operating system uses
the priority level to determine which task to execute when multiple tasks are
triggered. You can configure periodic tasks to execute from the lowest
priority of 15 up to the highest priority of 1. A higher priority task will
interrupt any lower priority task. The continuous task has the lowest priority
and is always interrupted by a periodic task.
The DriveLogix5730 controller uses a dedicated periodic task at priority 7
to process I/O data. This periodic task executes at the Requested Packet
Interval (RPI) you configure for the CompactBus, which can be as fast as
once every 1 ms. Its total execution time is as long as it takes to scan the
configured I/O modules.
How you configure your tasks affects how the controller receives I/O data.
Tasks at priorities 1 to 6 take precedence over the dedicated I/O task. Tasks
in this priority range can impact I/O processing time. If you configure the I/
O RPI at 1ms and you configure a task of priority 1 to 6 that requires 500 µs
to execute and is scheduled to run every millisecond, this leaves the
dedicated I/O task 500 µs to complete its job of scanning the configured I/
O.
However, if you schedule two high priority tasks (1 to 6) to run every
millisecond, and they both require 500 µs or more to execute, no CPU time
would be left for the dedicated I/O task. Furthermore, if you have so much
configured I/O that the execution time of the dedicated I/O task approaches
1 ms (or the combination of the high priority tasks and the dedicated I/O
task approaches 2 ms) no CPU time is left for low priority tasks (8 to 15).
TIP: For example, if your program needs to react to inputs and control
outputs at a deterministic rate, configure a periodic task with a priority
higher than 7 (i.e., 1 through 6). This keeps the dedicated I/O task from
affecting the periodic rate of your program. However, if your program
contains a large amount of math and data manipulation, place this logic in a
task with priority lower than 7 (i.e., 8 through 15), such as the continuous
task, so that the dedicated I/O task is not adversely affected by your
program.
Important: When using a DriveLogix5730 controller with Compact I/O, all
application program tasks must have an assigned priority of 8
through 15 in order that they do not interfere with the proper
operation of the Compact I/O.
1-8
What is DriveLogix5730?
The following example shows the task execution order for an application
with two periodic tasks and one continuous task.
Task:
1
2
3
4
Priority Level:
5
7
10
none (lowest)
Task Type:
periodic task, executes every 20 ms
dedicated I/O task (5 ms RPI)
periodic task, executes every 10 ms
continuous task
Example
Execution Time:
2 ms
1 ms
4 ms
25 ms
Worst Case
Completion Time:
2 ms
3 ms
8 ms
60 ms
Task 1
Task 2
Task 3
Task 4
0
5
10
15
20
25
30
35
40
45
50
55
60
65
Time (ms)
task_example.eps
Notes:
A. The highest priority task interrupts all lower priority tasks.
B. The dedicated I/O task can be interrupted by tasks with priority levels 1
to 6. The dedicated I/O task interrupts tasks with priority levels 8 to 15.
This task runs at the selected RPI rate scheduled for the DriveLogix5730
system (2ms in this example).
C. The continuous task runs at the lowest priority and is interrupted by all
other tasks.
D. A lower priority task can be interrupted multiple times by a higher
priority task.
E. When the continuous task completes a full scan it restarts immediately,
unless a higher priority task is running.
Defining programs
Each program contains program tags, a main executable routine, other
routines, and an optional fault routine. Each task can schedule as many as
32 programs.
The scheduled programs within a task execute to completion from first to
last. Programs that are not attached to any task show up as unscheduled
programs. You must specify (schedule) a program within a task before the
controller can scan the program.
What is DriveLogix5730?
1-9
Defining routines
A routine is a set of logic instructions in a single programming language,
such as ladder logic. Routines provide the executable code for the project in
a controller. A routine is similar to a program file or subroutine in a PLC or
SLC controller.
Each program has a main routine. This is the first routine to execute when
the controller triggers the associated task and calls the associated program.
Use logic, such as the Jump to Subroutine (JSR) instruction, to call other
routines.
You can also specify an optional program fault routine. The controller
executes this routine if it encounters an instruction-execution fault within
any of the routines in the associated program.
Selecting a System
Overhead Percentage
The Controller Properties dialog lets you specify a percentage for system
overhead. This percentage specifies the percentage of controller time
(excluding the time for periodic tasks) that is devoted to communication and
background functions.
1. View properties for the controller and select the Advanced
ahw0757.eps
ahw0758.eps
System overhead functions include:
• communicating with programming and HMI devices (such as RSLogix
5000 software)
• responding to messages
• sending messages
1-10
What is DriveLogix5730?
The controller performs system overhead functions for up to 1 ms at a time.
If the controller completes the overhead functions in less than 1 ms, it
resumes the continuous task.
As the system overhead percentage increases, time allocated to executing
the continuous task decreases. If there are no communications for the
controller to manage, the controller uses the communications time to
execute the continuous task. While increasing the system overhead
percentage decreases execution time for the continuous task, it does
increase communications performance. However, increasing the system
overhead percentage also increases the amount of time it takes to execute a
continuous task - increasing overall scan time.
The following table shows the ratio between the continuous task and the
system overhead functions:
At this time slice:
10%
20%
33%
50%
The continuous tasks runs for:
9 ms
4 ms
2 ms
1 ms
And then overhead occurs for up to:
1 ms
1 ms
1 ms
1 ms
TIP: For typical DriveLogix applications, a setting of 20-33% is
recommended.
At the default time slice of 10%, system overhead interrupts the continuous
task every 9 ms (of continuous task time), as illustrated below.
Legend:
Task executes.
Task is interrupted (suspended).
periodic
1 ms
1 ms
system overhead
9 ms
9 ms
continuous task
0
elapsed time (ms)
5
10
15
20
25
What is DriveLogix5730?
1-11
The interruption of a periodic task increases the elapsed time (clock time)
between the execution of system overhead, as shown below.
1 ms
1 ms
1 ms
1 ms
1ms
periodic task
1 ms
1 ms
system overhead
9 ms of continuous task time
9 ms of continuous task time
continuous task
0
5
10
15
20
25
elapsed time (ms)
If you increase the time slice to 20%, the system overhead interrupts the
continuous task every 4 ms (of continuous task time).
1 ms
1 ms
1 ms
1 ms
1 ms
system overhead
4 ms
4 ms
4 ms
4 ms
4 ms
continuous task
5
10
15
20
25
elapsed time (ms)
If you increase the time slice to 50%, the system overhead interrupts the
continuous task every 1 ms (of continuous task time).
1 ms
system overhead
1 ms
continuous task
5
10
15
20
25
elapsed time (ms)
If the controller only contains a periodic task(s), the system overhead
timeslice value has no effect. System overhead runs whenever a periodic
task is not running.
periodic task
system overhead
5
continuous task
elapsed time (ms)
10
15
20
25
1-12
What is DriveLogix5730?
Understanding the Virtual
Backplane
The DriveLogix5730 system has a five-slot virtual backplane. The
controller, drive and other components occupy different assigned slots on
the backplane.
Slot 0
DrvieLogix5730
Controller
Slot 1
Embedded
EtherNet Option
Virtual Backplane
Slot 2
PowerFlex 700S
Drive
Slot 3
Compact I/O
Slot 4
NetLinx
Daughtercard
Chapter
2
Placing and Configuring the Drive
De-energizing the Drive to
Connect or Disconnect a
Cable
!
ATTENTION: Severe injury or death can result from electrical
shock or burn. Verify that the voltage on the bus capacitors has
discharged before connecting to the communication ports.
Measure the DC bus voltage at the +DC & -DC terminals on the
Power Terminal Block. The voltage must be zero.
During the process of placing and configuring the drive you will need to
connect or disconnect a programming or network cable at the controller.
You should do this only if the drive is de-energized.
1. Turn off and lock out input power. Wait five minutes.
2. Verify that there is no voltage at the drive’s input power terminals.
3. Measure the DC bus voltage at the +DC & -DC terminals on the Power
Terminal Block. The voltage must be zero.
4. Connect or disconnect the programming or network cable.
5. Turn power back on and proceed with placing and configuring the drive.
Understanding the Interface The DriveLogix controller supports a direct connection to the drive
consisting of 21 inputs and 21 outputs. The tag names and data types
to the Drive
associated with the inputs and outputs are determined by the
communication format selection. Currently, the following five
communications formats are available:
•
•
•
•
•
Speed Control – for typical speed regulated applications
Position Control – for typical positioning applications
Motion Control - for use with Logix motion commands
User-Defined 1 – for general use as required.
User-Defined 2 - for general use as required.
Each communication format contains a number of pre-defined tags and
user-defined tags.
The pre-defined tag names and data types correspond with the associated
parameters, within the drive’s firmware, that are necessary to support the
selected communications format. Links must be established in the firmware,
using DriveExecutive software, to support the pre-defined tags. Linking is a
software mechanism that configures data flow within the drive’s firmware.
The links within the firmware to support the pre-defined tags are protected
2-2
Placing and Configuring the Drive
and must be present. If the associated links are not present, or are deleted,
the communication connection between the controller and drive will be lost.
The user-defined tags are made up of a fixed number of REAL (floating
point) and DINT (double integer) data types. Links are not required within
the drive’s firmware to support these tags. Therefore, links may be created
and deleted as desired without having an affect on the communication
connection between the controller and the drive. The user-defined tags may
be used to address application specific data needs not covered by the
pre-defined tags.
Mapping for Inputs and Outputs
For each of the 21 inputs and 21 outputs, there is a dedicated parameter
within the drive, for a total of 42 parameters. Selecting a communication
format defines the data types for each input and output. It also determines
the data type for the dedicated parameter in the drive. The selection also
configures parameters 601 [From DL DataType] and 625 [To DL
DataType], which indicate the data types for each dedicated parameter
within the drive.
The DriveLogix controller follows a producer/consumer model for the drive
Determining When the
Controller Updates the Drive connection, similar to the interface to an I/O module. The drive acts as both
an input module, producing data for the controller; and an output module,
consuming data from the controller. Although the producer/consumer
model multi-casts data, all data in the drive connection is exclusive to the
DriveLogix controller.
The controller updates the input and output data in the drive connection
asynchronously to the logic scan, consistent with the way it handles other I/
O data. All input data from the drive is read in a single block and all output
data is written to the drive in a single block.
You must configure the Requested Packet Interval (RPI) rate for the drive.
This setting affects how fast the controller reads and writes the data in the
drive interface.
TIP: If you want data to remain constant throughout one scan, make a copy
of the data at the beginning of the scan and use the copy throughout the
scan.
The Drive consumes data from the DriveLogix controller every 2
milliseconds, and produces data to the controller every 2 milliseconds. The
drive updates the inputs and outputs to the controller asynchronous to both
the program scan and I/O scan of the controller.
Placing and Configuring the Drive
2-3
Placing and Configuring the When you create a project for the DriveLogix controller in RSLogix 5000,
the Controller Organizer automatically displays the local DIN rail for
Drive
Compact I/O. You must add the PowerFlex 700S drive to the configuration,
in a manner similar to adding an I/O module. The Controller Organizer
automatically places the drive in slot two.
In the Controller Organizer, select the I/O Configuration folder. Right-click
the selected folder and select New Module.
Select the drive (PowerFlex 700S 2-400V in this example).
ahw0772.tif
2.
ahw0771.tif
1.
Important: You must select the correct voltage rating for the drive, when
adding the drive. You can find this on the drive data nameplate.
2-4
Placing and Configuring the Drive
Select the Major Revision.
4.
Configure the drive. Use the module properties wizard to specify characteristics for the
module. Click Next to continue through the wizard.
5.
Name the drive and specify the Comm Format. Click finish when you are done. The
completed module appears in the Controller Organizer.
ahw0774.tif
ahw0773.tif
3.
The selection you make for the Comm Format
determines the communication format for the
connection to the drive. This determines the
tag names and data types. See page 2-5.
Once you complete adding a module, you
cannot change this selection.
Electronic Keying
ahw0775.tif
Electronic keying has no effect on drive module. However, the default
setting (Compatible Module) is recommended.
Selecting “Compatible Module” allows you to enter the drive firmware
minor revision.
Placing and Configuring the Drive
2-5
Revision
ahw0776.tif
You must enter the correct drive VPL firmware revision, in order to launch
DriveExecutive and create the appropriate links for the selected
communication format. Determine the firmware revision by viewing
parameter 314 [VPL Firmware Rev] in the drive.
Communication Formats
The communication format determines the data structure, tag names, and
required links for communication to the drive. Each communication format
has been structured to meet the requirements of a specific type of
application (Speed Control, Position Control, or general purpose), and
supports a different data structure. The links within the PowerFlex 700S
required to support the selected format are also different. Any of the
available communication formats create one direct connection to the drive.
ahw0777.tif
You select the communication format when you configure the drive module.
The default communication format for the drive is Speed Control. The tags
are created as controller-scoped tags. The following tag structure shows the
Placing and Configuring the Drive
Speed Control format. The tag structure for this example’s drive connection
has the tag name of “drive_module”.
ahw0778.tif
2-6
The following tables show the tag names and their relationship to
parameters in the drive. These examples use a module name of
“drive_module”.
Table 2.A Mapping for Speed Control Communication Format
Controller Output Tag Element
LogicCommand
SpeedRef1
TorqueRef1
SpdTorqModeSelect
TorqueStep
SpdRegDroop
UserDefinedRealData[0]
UserDefinedRealData[1]
UserDefinedRealData[2]
UserDefinedRealData[3]
UserDefinedRealData[4]
UserDefinedRealData[5]
UserDefinedRealData[6]
UserDefinedRealData[7]
UserDefinedRealData[8]
UserDefinedRealData[9]
UserDefinedIntegerData[0]
UserDefinedIntegerData[1]
UserDefinedIntegerData[2]
UserDefinedIntegerData[3]
UserDefinedIntegerData[4]
Drive Parameter
602 [FromDriveLogix00]
603 [FromDriveLogix01]
604 [FromDriveLogix02]
605 [FromDriveLogix03]
606 [FromDriveLogix04]
607 [FromDriveLogix05]
608 [FromDriveLogix06]
609 [FromDriveLogix07]
610 [FromDriveLogix08]
611 [FromDriveLogix09]
612 [FromDriveLogix10]
613 [FromDriveLogix11]
614 [FromDriveLogix12]
615 [FromDriveLogix13]
616 [FromDriveLogix14]
617 [FromDriveLogix15]
618 [FromDriveLogix16]
619 [FromDriveLogix17]
620 [FromDriveLogix18]
621 [FromDriveLogix19]
622 [FromDriveLogix20]
Linked Parameter
151 [Logic Command]
10 [Speed Ref 1]
111 [Torque Ref 1]
110 [Speed/TorqueMode]
116 [Torque Step]
86 [Spd Reg Droop]
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
Controller Input Tag Element
LogicStatus
FilteredSpdFdbk
MotorTorqueRef
OutputCurrent
MCStatus
LocalIOStatus
UserDefinedRealData[0]
UserDefinedRealData[1]
UserDefinedRealData[2]
UserDefinedRealData[3]
UserDefinedRealData[4]
UserDefinedRealData[5]
UserDefinedRealData[6]
UserDefinedRealData[7]
UserDefinedRealData[8]
UserDefinedIntegerData[0]
UserDefinedIntegerData[1]
UserDefinedIntegerData[2]
UserDefinedIntegerData[3]
UserDefinedIntegerData[4]
UserDefinedIntegerData[5]
Drive Parameter
626 [To DriveLogix00]
627 [To DriveLogix01]
628 [To DriveLogix02]
629 [To DriveLogix03]
630 [To DriveLogix04]
631 [To DriveLogix05]
632 [To DriveLogix06]
633 [To DriveLogix07]
634 [To DriveLogix08]
635 [To DriveLogix09]
636 [To DriveLogix10]
637 [To DriveLogix11]
638 [To DriveLogix12]
639 [To DriveLogix13]
640 [To DriveLogix14]
641 [To DriveLogix15]
642 [To DriveLogix16]
643 [To DriveLogix17]
644 [To DriveLogix18]
645 [To DriveLogix19]
646 [To DriveLogix20]
Linked Parameter
155 [Logic Status]
71 [Filtered SpdFdbk]
303 [Motor Torque Ref]
308 [Output Current]
555 [MC Status]
824 [Local I/O Status]
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
Placing and Configuring the Drive
Table 2.B Mapping for Position Control Communication Format
Controller Output Tag Element
LogicCommand
SpeedRef1
PositionControl
CoarsePositTrgt
PtPtPositRef
PositOffset1
UserDefinedRealData[0]
UserDefinedRealData[1]
UserDefinedRealData[2]
UserDefinedRealData[3]
UserDefinedRealData[4]
UserDefinedRealData[5]
UserDefinedRealData[6]
UserDefinedRealData[7]
UserDefinedRealData[8]
UserDefinedIntegerData[0]
UserDefinedIntegerData[1]
UserDefinedIntegerData[2]
UserDefinedIntegerData[3]
UserDefinedIntegerData[4]
UserDefinedIntegerData[5]
Drive Parameter
602 [FromDriveLogix00]
603 [FromDriveLogix01]
604 [FromDriveLogix02]
605 [FromDriveLogix03]
606 [FromDriveLogix04]
607 [FromDriveLogix05]
608 [FromDriveLogix06]
609 [FromDriveLogix07]
610 [FromDriveLogix08]
611 [FromDriveLogix09]
612 [FromDriveLogix10]
613 [FromDriveLogix11]
614 [FromDriveLogix12]
615 [FromDriveLogix13]
616 [FromDriveLogix14]
617 [FromDriveLogix15]
618 [FromDriveLogix16]
619 [FromDriveLogix17]
620 [FromDriveLogix18]
621 [FromDriveLogix19]
622 [FromDriveLogix20]
Linked Parameter
151 [Logic Command]
10 [Speed Ref 1]
740 [Position Control]
748 [CoarsePosit Trgt]
758 [Pt-Pt Posit Ref]
753 [Posit Offset 1]
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
Controller Input Tag Element
LogicStatus
FilteredSpdFdbk
OutputCurrent
LocalIOStatus
PositionStatus
PositionFdbk
PositionActual
PositionError
UserDefinedRealData[0]
UserDefinedRealData[1]
UserDefinedRealData[2]
UserDefinedRealData[3]
UserDefinedRealData[4]
UserDefinedRealData[5]
UserDefinedIntegerData[0]
UserDefinedIntegerData[1]
UserDefinedIntegerData[2]
UserDefinedIntegerData[3]
UserDefinedIntegerData[4]
UserDefinedIntegerData[5]
UserDefinedIntegerData[6]
Drive Parameter
626 [To DriveLogix00]
627 [To DriveLogix01]
628 [To DriveLogix02]
629 [To DriveLogix03]
630 [To DriveLogix04]
631 [To DriveLogix05]
632 [To DriveLogix06]
633 [To DriveLogix07]
634 [To DriveLogix08]
635 [To DriveLogix09]
636 [To DriveLogix10]
637 [To DriveLogix11]
638 [To DriveLogix12]
639 [To DriveLogix13]
640 [To DriveLogix14]
641 [To DriveLogix15]
642 [To DriveLogix16]
643 [To DriveLogix17]
644 [To DriveLogix18]
645 [To DriveLogix19]
646 [To DriveLogix20]
Linked Parameter
155 [Logic Status]
71 [Filtered SpdFdbk]
308 [Output Current]
824 [Local I/O Status]
741 [Position Status]
762 [Position Fdbk]
763 [Position Actual]
769 [Position Error]
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
2-7
2-8
Placing and Configuring the Drive
Table 2.C Mapping for Motion Control Communication Format
Controller Output Tag Element
UserDefinedRealData[0]
UserDefinedRealData[1]
UserDefinedRealData[2]
UserDefinedRealData[3]
UserDefinedRealData[4]
UserDefinedRealData[5]
UserDefinedRealData[6]
UserDefinedRealData[7]
UserDefinedRealData[8]
UserDefinedRealData[9]
UserDefinedRealData[10]
UserDefinedRealData[11]
UserDefinedIntegerData[0]
UserDefinedIntegerData[1]
UserDefinedIntegerData[2]
UserDefinedIntegerData[3]
UserDefinedIntegerData[4]
UserDefinedIntegerData[5]
UserDefinedIntegerData[6]
UserDefinedIntegerData[7]
UserDefinedIntegerData[8]
Drive Parameter
602 [FromDriveLogix00]
603 [FromDriveLogix01]
604 [FromDriveLogix02]
605 [FromDriveLogix03]
606 [FromDriveLogix04]
607 [FromDriveLogix05]
608 [FromDriveLogix06]
609 [FromDriveLogix07]
610 [FromDriveLogix08]
611 [FromDriveLogix09]
612 [FromDriveLogix10]
613 [FromDriveLogix11]
614 [FromDriveLogix12]
615 [FromDriveLogix13]
616 [FromDriveLogix14]
617 [FromDriveLogix15]
618 [FromDriveLogix16]
619 [FromDriveLogix17]
620 [FromDriveLogix18]
621 [FromDriveLogix19]
622 [FromDriveLogix20]
Linked Parameter
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
Controller Input Tag Element
LogicStatus
UserDefinedRealData[0]
UserDefinedRealData[1]
UserDefinedRealData[2]
UserDefinedRealData[3]
UserDefinedRealData[4]
UserDefinedRealData[5]
UserDefinedRealData[6]
UserDefinedRealData[7]
UserDefinedRealData[8]
UserDefinedRealData[9]
UserDefinedRealData[10]
UserDefinedRealData[11]
UserDefinedIntegerData[0]
UserDefinedIntegerData[1]
UserDefinedIntegerData[2]
UserDefinedIntegerData[3]
UserDefinedIntegerData[4]
UserDefinedIntegerData[5]
UserDefinedIntegerData[6]
UserDefinedIntegerData[7]
Drive Parameter
626 [To DriveLogix00]
627 [To DriveLogix01]
628 [To DriveLogix02]
629 [To DriveLogix03]
630 [To DriveLogix04]
631 [To DriveLogix05]
632 [To DriveLogix06]
633 [To DriveLogix07]
634 [To DriveLogix08]
635 [To DriveLogix09]
636 [To DriveLogix10]
637 [To DriveLogix11]
638 [To DriveLogix12]
639 [To DriveLogix13]
640 [To DriveLogix14]
641 [To DriveLogix15]
642 [To DriveLogix16]
643 [To DriveLogix17]
644 [To DriveLogix18]
645 [To DriveLogix19]
646 [To DriveLogix20]
Linked Parameter
155 [Logic Status]
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
Placing and Configuring the Drive
Table 2.D Mapping for User-Defined 1 Communication Format
Controller Output Tag Element
LogicCommand
UserDefinedRealData[0]
UserDefinedRealData[1]
UserDefinedRealData[2]
UserDefinedRealData[3]
UserDefinedRealData[4]
UserDefinedRealData[5]
UserDefinedRealData[6]
UserDefinedRealData[7]
UserDefinedRealData[8]
UserDefinedRealData[9]
UserDefinedRealData[10]
UserDefinedRealData[11]
UserDefinedRealData[12]
UserDefinedRealData[13]
UserDefinedIntegerData[0]
UserDefinedIntegerData[1]
UserDefinedIntegerData[2]
UserDefinedIntegerData[3]
UserDefinedIntegerData[4]
UserDefinedIntegerData[5]
Drive Parameter
602 [FromDriveLogix00]
603 [FromDriveLogix01]
604 [FromDriveLogix02]
605 [FromDriveLogix03]
606 [FromDriveLogix04]
607 [FromDriveLogix05]
608 [FromDriveLogix06]
609 [FromDriveLogix07]
610 [FromDriveLogix08]
611 [FromDriveLogix09]
612 [FromDriveLogix10]
613 [FromDriveLogix11]
614 [FromDriveLogix12]
615 [FromDriveLogix13]
616 [FromDriveLogix14]
617 [FromDriveLogix15]
618 [FromDriveLogix16]
619 [FromDriveLogix17]
620 [FromDriveLogix18]
621 [FromDriveLogix19]
622 [FromDriveLogix20]
Linked Parameter
151 [Logic Command]
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
Controller Input Tag Element
LogicStatus
UserDefinedRealData[0]
UserDefinedRealData[1]
UserDefinedRealData[2]
UserDefinedRealData[3]
UserDefinedRealData[4]
UserDefinedRealData[5]
UserDefinedRealData[6]
UserDefinedRealData[7]
UserDefinedRealData[8]
UserDefinedRealData[9]
UserDefinedRealData[10]
UserDefinedRealData[11]
UserDefinedIntegerData[0]
UserDefinedIntegerData[1]
UserDefinedIntegerData[2]
UserDefinedIntegerData[3]
UserDefinedIntegerData[4]
UserDefinedIntegerData[5]
UserDefinedIntegerData[6]
UserDefinedIntegerData[7]
Drive Parameter
626 [To DriveLogix00]
627 [To DriveLogix01]
628 [To DriveLogix02]
629 [To DriveLogix03]
630 [To DriveLogix04]
631 [To DriveLogix05]
632 [To DriveLogix06]
633 [To DriveLogix07]
634 [To DriveLogix08]
635 [To DriveLogix09]
636 [To DriveLogix10]
637 [To DriveLogix11]
638 [To DriveLogix12]
639 [To DriveLogix13]
640 [To DriveLogix14]
641 [To DriveLogix15]
642 [To DriveLogix16]
643 [To DriveLogix17]
644 [To DriveLogix18]
645 [To DriveLogix19]
646 [To DriveLogix20]
Linked Parameter
155 [Logic Status]
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
2-9
2-10
Placing and Configuring the Drive
Table 2.E Mapping for User-Defined 2 Communication Format
Controller Output Tag Element
LogicCommand
UserDefinedRealData[0]
UserDefinedRealData[1]
UserDefinedRealData[2]
UserDefinedRealData[3]
UserDefinedRealData[4]
UserDefinedRealData[5]
UserDefinedRealData[6]
UserDefinedRealData[7]
UserDefinedRealData[8]
UserDefinedRealData[9]
UserDefinedRealData[10]
UserDefinedIntegerData[0]
UserDefinedIntegerData[1]
UserDefinedIntegerData[2]
UserDefinedIntegerData[3]
UserDefinedIntegerData[4]
UserDefinedIntegerData[5]
UserDefinedIntegerData[6]
UserDefinedIntegerData[7]
UserDefinedIntegerData[8]
Drive Parameter
602 [FromDriveLogix00]
603 [FromDriveLogix01]
604 [FromDriveLogix02]
605 [FromDriveLogix03]
606 [FromDriveLogix04]
607 [FromDriveLogix05]
608 [FromDriveLogix06]
609 [FromDriveLogix07]
610 [FromDriveLogix08]
611 [FromDriveLogix09]
612 [FromDriveLogix10]
613 [FromDriveLogix11]
614 [FromDriveLogix12]
615 [FromDriveLogix13]
616 [FromDriveLogix14]
617 [FromDriveLogix15]
618 [FromDriveLogix16]
619 [FromDriveLogix17]
620 [FromDriveLogix18]
621 [FromDriveLogix19]
622 [FromDriveLogix20]
Linked Parameter
151 [Logic Command]
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
Controller Input Tag Element
LogicStatus
UserDefinedRealData[0]
UserDefinedRealData[1]
UserDefinedRealData[2]
UserDefinedRealData[3]
UserDefinedRealData[4]
UserDefinedRealData[5]
UserDefinedRealData[6]
UserDefinedRealData[7]
UserDefinedRealData[8]
UserDefinedRealData[9]
UserDefinedIntegerData[0]
UserDefinedIntegerData[1]
UserDefinedIntegerData[2]
UserDefinedIntegerData[3]
UserDefinedIntegerData[4]
UserDefinedIntegerData[5]
UserDefinedIntegerData[6]
UserDefinedIntegerData[7]
UserDefinedIntegerData[8]
UserDefinedIntegerData[9]
Drive Parameter
626 [To DriveLogix00]
627 [To DriveLogix01]
628 [To DriveLogix02]
629 [To DriveLogix03]
630 [To DriveLogix04]
631 [To DriveLogix05]
632 [To DriveLogix06]
633 [To DriveLogix07]
634 [To DriveLogix08]
635 [To DriveLogix09]
636 [To DriveLogix10]
637 [To DriveLogix11]
638 [To DriveLogix12]
639 [To DriveLogix13]
640 [To DriveLogix14]
641 [To DriveLogix15]
642 [To DriveLogix16]
643 [To DriveLogix17]
644 [To DriveLogix18]
645 [To DriveLogix19]
646 [To DriveLogix20]
Linked Parameter
155 [Logic Status]
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
User Defined
For each of the communication formats, drive_module:O.LogicCommand
and drive_module:I.LogicStatus are provided as DINT data types. In
addition to these tags, the control bits for each are also available as Boolean
values with tag names that correspond to the control bits in the drive. This
gives you the option of programming the Logic Command and Status words
at the Boolean level or as an integer value.
Not all 32-bits within parameter 151 [Logic Command], are directly visible
in the PowerFlex 700S. To view all 32-bits, refer to parameter 152 [Applied
LogicCmd].
Placing and Configuring the Drive
Inhibiting the Drive
Connection
2-11
RSLogix 5000 programming software allows you to inhibit the controller’s
connection to the drive, in the same way you inhibit its connection to an I/O
module. Inhibiting the drive module shuts down the connection from the
controller to the drive. When you create the module you can choose to
inhibit it. After you have created the module you can inhibit or un-inhibit it
by manipulating its properties window.
!
ATTENTION: Inhibiting a drive module breaks the controller’s
connection to the drive. In this situation, the controller can
neither start or stop the drive, nor read the status of the drive. The
drive can continue to operate based on its parameter settings and
inputs. To avoid potential personal injury and damage to
machinery, make sure this does not create unsafe operation.
On the Connection tab during creation or in the Properties window
ahw0779.tif
Check the inhibit box to
inhibit the connection to
the drive
When you inhibit the drive module, the Controller Organizer displays a
yellow attention symbol ! over the module.
If you are:
offline
Inhibit the drive module to:
put a place holder for the drive module to indicate that configuration is not yet complete.
online
The inhibit status is stored in the project. When you download the project, the module is still inhibited.
stop communication to the drive.
If you inhibit the drive while you are connected to the module, the connection to the module is closed. By default,
the PowerFlex 700S drive will fault. The data inputs to the drive will either hold last state, or reset to zero data
based on the setting of parameter 385 [Lgx CommLossData].
If you inhibit the drive but a connection to the module was not established (perhaps due to an error condition or
fault), the module is inhibited. The module status information changes to indicate that the module is inhibited and
not faulted.
If you uninhibit the drive (clear the check box), and no fault condition occurs, a connection is made to the drive.
To inhibit a module from logic, you must first read the Mode attribute for
the module using a GSV instruction. Set bit 2 to the inhibit status (1 to
2-12
Placing and Configuring the Drive
ahw0514.tif
inhibit or 0 to uninhibit). Use a SSV instruction to write the Mode attribute
back to the module. For example:
Using DriveExecutive Lite
If not already done, enter the drive firmware revision. Click the Finish button to apply the
revision data.
ahw0779.tif
1.
In order to launch DriveExecutive Lite from within RSLogix 5000, the
drives power rating must be selected. The drive firmware revision must be
applied prior to selecting the power rating.
Placing and Configuring the Drive
In the Controller Organizer, select the PowerFlex 700S drive. Right-click the drive module and select Properties.
3.
Select the Power tab.
4.
Select the correct Drive Rating. This data can be found on the PowerFlex 700S data nameplate.
ahw0781.tif
ahw0780.tif
2.
2-13
TIP: If your drive’s power rating does not appear as a selection, you do not
have the DriveExecutive Lite database file for your drive. To create a
database file, connect to the drive with DriveExecutive Lite. This will
automatically create the database. You can also download the database file
from http://www.ab.com/drives/data.html
2-14
Placing and Configuring the Drive
Once the power rating is selected, apply your changes by selecting the Apply button.
6.
Select the Setup tab.
7.
Enter the file name for your DriveExecutive Lite parameter file, then click the Apply button.
8.
Click the DriveExecutive button to launch DriveExecutive Lite.
ahw0785.tif
ahw0782.tif
ahw0784.tif
5.
Placing and Configuring the Drive
When asked to create a new DriveExecutive Lite file, select yes.
ahw0786.tif
DriveExecutive will then launch and open the
newly created file
ahw0787.tif
9.
2-15
2-16
Placing and Configuring the Drive
Viewing the Communication Interface to the Controller
DriveExecutive Lite has a setup screen that details the communication
interface between the controller and drive. From this screen, the relationship
between drive parameters and controller tags is presented for the selected
communication format. You can create additional links within the drive for
use with the user-defined tags in the controller.
To view the setup screen select Display DriveLogix from the Drive drop-down menu. Then select the From DriveLogix tab.
ahw0789.tif
ahw0788.tif
1.
Placing and Configuring the Drive
ahw0790.tif
To send additional data from the drive to the controller, go to the To DriveLogix tab.
Click the button in front of the
UserDefinedRealData[0] tag
ahw0791.tif
2.
2-17
3.
Select the desired source (parameter 307 [Output Voltage] in this example) in the resulting window.
Configuring the Drive’s Response to a Connection Failure or Controller
Mode Change
The drive contains several parameters that allow you to configure the drive’s
response to communication loss to the controller. From the drive’s
perspective, a communication loss can come in the following two forms.
• The controller closes the connection (for example, the connection is
inhibited).
• A general failure occurs causing the connection to time out.
Parameter 386 [Lgx OutofRunCnfg] configures the drive’s response to the
controller is removed from the Run Mode. Parameter 387 [Lgx Timeout
2-18
Placing and Configuring the Drive
Cnfg] configures the drive’s response to a general connection failure as
detected by the drive. Parameter 388 [Lgx Closed Cnfg] configures the
drive’s response to the controller closing the connection. All of these
parameters configure the drive’s response to these exception events in the
following ways: ignore, alarm, fault and coast to stop, fault and ramp to
stop, fault and stop in current limit.
Parameter 385 [Lgx CommLossData] determines what the drive does with
data from the controller when communication is lost. It determines if the
drive resets the data to zero or holds the data in its last state.
ahw0792.tif
Configure these parameters, using DriveExecutive Lite. Locate them in the
Fault/Alm Config group of the Utility file.
Placing and Configuring the Drive
2-19
Using Existing DriveExecutive Lite Files
Before using an existing DriveExecutive Lite file, verify the firmware
revision, communication format, and power rating in the drive file match the
data entered in drive module properties in your DriveLogix application.
Select Properties from the Drive menu.
ahw0793.tif
2.
View the revision and ratings on the General tab of the Properties window.
ahw0794.tif
1.
3.
Refer to Viewing the Communication Interface to the Controller on page 2-16, to view
the communication format.
2-20
Placing and Configuring the Drive
In RSLogix 5000, go to the Setup tab of the Properties window. Click the Browse button. Select the
existing DriveExecutive file (Existing Drive.dno in this example). Click the open button.
ahw0795.tif
ahw0785.tif
4.
ahw0796.tif
Click the Apply button
and then launch DriveExecutive.
ahw0797.tif
5.
Placing and Configuring the Drive
Accessing Drive Data
2-21
Drive data is displayed as structures of multiple tags. The names and data
structures are based on the selected communication format. The
programming software automatically creates the necessary structures and
tags when you configure the drive module. Each tag name follows this
format:
ModuleName:Type.MemberName.SubMemberName.Bit
where:
This address variable:
Is:
ModuleName
Identifies the module name entered during the drive module
configuration
Type
Type of data
I = input
O = output
MemberName
Specific data from the drive; depends on the selected communication
format.
For tags associated with pre-defined data links, this name will be the
same as the corresponding parameter name in the drive.
SubMemberName
Specific data related to a MemberName
Bit (optional)
Specific bit of a DINT data value
Refer to Communication Formats on page 2-5 for sample tag names.
Monitoring Drive Data
The DriveLogix controller offers different levels at which you can monitor
the drive module. You can:
• configure the drive module so that the controller faults if the drive loses
its connection to the controller.
• use the programming software to display fault data
• program logic to monitor fault data so you can take appropriate action
2-22
Placing and Configuring the Drive
ahw0798.tif
Configuring the Controller’s You can configure the drive module to generate a major fault in the
Response to a Connection controller if the drive loses its connection to the controller.
Failure
Check this box to configure the drive
module to generate a major fault if it loses
its connection to the controller
If you do not configure the major fault to occur, you should monitor the
drive module status. If the drive loses its connection to the controller:
• Outputs remain in their last
• Inputs remain in their last state
• By default the drive will fault
!
ATTENTION: If a drive loses its connection to the controller,
the controller and other I/O modules continue to operate based
on old data from the drive, and the drive can continue to operate
based on old data from the controller. To avoid potential personal
injury and damage to machinery, make sure this does not create
unsafe operation.
Configure the drive to generate a controller major fault when the drive loses
its connection to the controller. Or, monitor the status of the drive module.
Placing and Configuring the Drive
2-23
Monitoring the drive module
Each communication format provides a drive status word that will indicate
when a drive fault or alarm occurs. To view this data through the
programming software:
In the Controller Organizer, select Controller Tags. Right-click on the selected icon and select Monitor Tags.
ahw0799.tif
1.
Expand the data as necessary.
ahw0800.tif
2.
Placing and Configuring the Drive
You can write logic to monitor these bits and take appropriate action if a
fault or alarm occurs. For example, you may want a drive alarm to turn on a
warning lamp and a drive fault to sound an alarm and set the motor brake.
Example: Energizing Alarm Lamp, Siren and Brake in Response to Fault and Alarm
Status Bits
ahw0801.tif
Given this configuration, the following logic checks the fault and alarm
drive status bits.
ahw0802.tif
2-24
Placing and Configuring the Drive
Recommended
Programming Techniques
Naming Tags
Use a convention when naming tags and consistently follow it. The
following convention is used internally at Allen-Bradley:
<prefix>_<function>_<suffix>
Prefix - identifies the machine section in multi section programs
Prefix examples:
Sct1 = Section 1
Fan2 = Fan 2
RewA = Rewind A
Function - describes the function or signal
Function examples:
SpdRef = Speed Reference
FaultState = Status of a fault
Suffix - identifies the units of the signal or control status
Suffix examples:
Rpm = Rotations per Minute
Ok = status OK
Off = contact Off
Full tag examples:
Sct2_SpdRef_Fpm = Speed Reference, in feet per minute, on Section 2
Fan5_FaultState_OK = Status of fault, where 1 = OK, on Fan 5
TIP: Add descriptions for each tag when creating the tag
2-25
2-26
Placing and Configuring the Drive
Use Aliasing for all Communication Format Connections Between
DriveLogix and the PowerFlex 700S
Using aliases for the tags in the Communication Format (i.e. Speed Control,
Motion Control, Position Control, User-Defined 1 and User-Defined 2) has
the following benefits:
• Improves program portability over processors and through upgrades to
DriveLogix, PowerFlex 700S, and RSLogix 5000 firmware.
• Allows real names to be applied to the User Defined tags of the static
assembly.
• Allows new functions of DriveLogix and the PowerFlex 700S to be
clearly named in the program even if RSLogix 5000 has not been
updated.
• Allows long tag names in RSLogix 5000 to be shortened for easier
program viewing.
• Allows tags to be named using the above naming convention to identify
machine section association.
Apply aliases to all external connections including the PowerFlex 700S
Communication Format and I/O. All defined bits should be included.
Use "Periodic Tasks" to optimize processor utilization.
Name periodic tasks to identify the update time
(e.g. Periodic_020ms_P9 = 20ms task with priority 9).
Set the periodic task time appropriate programming requirements.
Important: Remember that tasks with faster the task times consume more
processor bandwidth than those with slower task times.
Set the priority of each task to coincide with the task speed. Set faster tasks
to higher priority.
Important: Remember lower priority numbers define higher priorities (e.g.
a task with a priority number of 9 has a higher priority than one
with a priority of 10).
Important: Do not set the priority number lower than 8 (the recommended
priority range is 8-15). This will provide I/O scanning with
optimal updating. Flex I/O and Compact I/O are coded as
priority 7 for DriveLogix.
Chapter
3
Placing and Configuring Local I/O
De-energizing the Drive to
Connect or Disconnect a
Cable
!
ATTENTION: Severe injury or death can result from electrical
shock or burn. Verify that the voltage on the bus capacitors has
discharged before connecting to the communication ports.
Measure the DC bus voltage at the +DC & -DC terminals on the
Power Terminal Block. The voltage must be zero.
During the process of placing and configuring I/O you will need to connect
or disconnect a programming or network cable at the controller. You should
do this only if the drive is de-energized.
1. Turn off and lock out input power. Wait five minutes.
2. Verify that there is no voltage at the drive’s input power terminals.
3. Measure the DC bus voltage at the +DC & -DC terminals on the Power
Terminal Block. The voltage must be zero.
4. Connect or disconnect the programming or network cable.
5. Turn power back on and proceed with placing and configuring the I/O.
The DriveLogix5730 controller supports up to 2 banks of modules with a
maximum of 8 modules per bank. You must distribute the modules within
each bank so that no more than 4 modules are on either side of the power
supply.
ahw0803.eps
Understanding How the
DriveLogix5730 Supports
I/O
Power Module
I/O Modules
I/O Modules
Placing and Configuring Local I/O
Refer to the Compact I/O Selection Guide, publication 1769-SG001, for
information about selecting Compact I/O modules. Use the 20D-DL2-CR3
or 20D-DL2-CL3 cables to connect a DriveLogix5730 controller to a bank
of Compact I/O. Use 1769-CRR1/-CRR3 or 1769-CRL1/-CRL3 expansion
cable to connect banks of I/O modules. You can split a bank right after the
power supply or after any I/O module. Each bank must contain one power
supply. An end cap/terminator must be used on the last I/O bank opposite of
the expansion cable.
Only the local DriveLogix5730 controller can scan the local Compact I/O.
!
ATTENTION: The Compact I/O system does not support
Removal and Insertion Under Power (RIUP).
While the DriveLogix / Compact I/O is under power:
• any break in the connection between the power supply
and the controller (i.e. removing the power supply,
controller, or an I/O module) may subject the logic
circuitry to transient conditions above the normal design
thresholds and may result in damage to system
components or unexpected behavior.
• removing an end cap or a module fault may fault the
controller.
A 20D-DL2-CL3 cable connects the controller to the left side of an I/O
bank. A 20D-DL2-CR3 cable connects the controller to the right side of an
I/O bank.
20D-DL2-CL3
ahw0805.eps
Placing Local I/O Modules
ahw0804.eps
3-2
20D-DL2-CR3
Placing and Configuring Local I/O
3-3
20D-DL2-CL3
ahw0808.eps
ahw0806.eps
A 1769-CRL1/-CRL3 connects the left side of one bank of Compact I/O to
the right side of another. This facilitates a horizontal I/O orientation.
1769-CRLX
1769-CRLX
20D-DL2-CR3
ahw0809.eps
ahw0807.eps
A 1769-CLL1/-CLL3 connects the left side of one bank of Compact I/O to
the left side of another. A 1769-CRR1/-CRR3 connects the right side of one
bank of Compact I/O to the right side of another. This facilitates a vertical
I/O orientation.
20D-DL2-CL3
20D-DL2-CR3
1769-CRRX
Validating I/O Layout
1769-CLLX
To validate your planned I/O layout, consider these requirements:
• Each module in a Compact I/O system uses a set amount of backplane
memory, in addition to the data that the module stores or transfers. As
you add modules, the minimum backplane RPI increases.
• The I/O modules must be distributed such that the current consumed
from the left or right side of the power supply never exceeds 2.0A at 5V
dc and 1.0A at 24V dc.
3-4
Placing and Configuring Local I/O
Estimating RPI
As you install modules, the minimum backplane RPI increases. The RPI
(request packet interval) defines the frequency at which the controller sends
and receives all I/O data on the backplane. There is one RPI for the entire
1769 backplane. Consider these guidelines when installing modules:
Type of Module:
Considerations:
digital and analog
(any mix)
• 1-4 modules can be scanned in 1.0 ms
• 5-16 modules can be scanned in 1.5 ms
• some input modules have a fixed 8.0 ms filter, so selecting a faster
RPI has no affect
specialty
• “full-sized” 1769-SDN modules add 1.5 ms per module
• 1769-HSC modules add 0.5 ms per module
You can always select an RPI that is slower than listed above. These
considerations show how fast modules can be scanned - not how fast an
application can use the data. The RPI is asynchronous to the program scan.
Other factors, such as program execution duration, affect I/O throughput.
Determining When the
Controller Updates I/O
The controller continually scans the control logic. One scan is the time it
takes the controller to execute the logic once. Input data transfers to the
controller and output data transfers to output modules are asynchronous to
the logic scan.
TIP: If you need to ensure that the I/O values being used during logic
execution are from one moment in time (such as at the beginning of a ladder
program), use the Synchronous Copy instruction (CPS) to buffer I/O data.
Refer to the Logix5000 Controllers Common Procedures Programming
Manual, publication number 1756-PM001 for examples of I/O buffering or
to the Logix5000 Controllers General Instruction Set Reference Manual,
publication number 1756-RM003 for information on the CPS instruction.
Placing and Configuring Local I/O
Configuring the
CompactBus
In the Controller Organizer, select CompactBus Local icon. Right click and
select Properties.
ahw0810.tif
ahw0811.tif
1.
When you create a DriveLogix5730 project, the programming software
automatically creates the local CompactBus. You must configure the
CompactBus.
3-5
Placing and Configuring Local I/O
On the General tab, specify the size of the chassis. Enter the number of
modules you plan to install. Include the DriveLogix5730 controller and
drive in this total, along with a maximum of 16 I/O modules, not including
the power supply.
The Comm Format for the CompactBus is automatically set to Rack
Optimized and cannot be changed.
Using the Connection tab, you can specify the RPI for the systems and
choose to inhibit or uninhibit the CompactBus.
ahw0812.tif
3-6
The RPI you specify here is the RPI for every 1769 module on this
controller’s local CompactBus. Specify an RPI from 1-750ms for the
system. You do not specify individual RPI values for each module.
By inhibiting and uninhibiting the CompactBus, you can write new
configuration data to the entire system at once.
The controller’s response to a CompactBus connection failure is dependant
upon the Compact I/O modules configuration. The checkbox which
indicates that the controller will fault should be ignored - for the
CompactBus adapter. Furthermore, if any Compact I/O module is
configured to fault the module on connection loss, any Compact I/O module
fault will cause the controller to fault.
Placing and Configuring Local I/O
Configuring Local I/O
Modules
Use your programming software to configure the I/O modules for the
controller.
In the Controller Organizer, select CompactBus Local icon. Right click and
select New Module.
2.
Select the new module (1769-IA16 in this example).
ahw0815.tif
ahw0813.tif
ahw0814.tif
1.
3.
Configure the module, using the module wizard to specify characteristics. Click Next to advance the wizard. Click Finish
when you are done.
The completed module will appear in the Controller Organizer.
3-7
Placing and Configuring Local I/O
Communication Formats
The communication format determines the data structure the I/O module
uses. Each format supports a different data structure. Presently, the
DriveLogix5730 controller supports two data formats:
• Input Data – INT (for 1769 input modules)
• Data – INT (for 1769 output modules)
TIP: The DriveLogix5730 controller must own its local I/O modules. No
other Logix-based controller can own the local Compact I/O.
The communication format determines the tag structure that is created for
the module. Assume that a 1769-IA16 Input module is in slot 1. The
software creates the appropriate tags using the slot number to differentiate
the tags for this example module from any other module.
ahw0816.tif
3-8
Hold Last State and User-Defined Safe State Not Supported
!
ATTENTION: Risk of injury or equipment damage exists.
When 1769 Compact I/O modules are used as local I/O modules
in a DriveLogix5730 system, the local I/O modules do not
support the Hold Last State or User-Defined Safe State features,
even though you can configure these options in the programming
software. Precautions should be taken to ensure that these
settings do not create a hazard of injury or equipment damage.
When a compact I/O module is configured to do so, it will cause the
controller to go into a faulted mode when the compact I/O module fails and
communication to the controller is lost, or the compact I/O module is
Placing and Configuring Local I/O
3-9
disconnected from the system bus while under power. All outputs turn off
when the system bus or any module faults.
RSLogix 5000 software creates tags for modules when you add them to the
I/O configuration. The 1769 module tags define configuration (C) data type
members which may include attributes for alternate outputs.
DriveLogix5730 does not enable local modules to use the alternate outputs.
Do not configure the attributes listed below:
For digital output modules:
For analog output modules:
•
•
•
•
•
•
•
•
•
ProgToFaultEn
ProgMode
ProgValue
FaultMode
FaultValue
CHxProgToFaultEn
CHxProgMode
CHxFaultMode
where CHx = the channel number
Any 1769 Compact I/O modules used as remote I/O modules in a
DriveLogix5730 system do support the Hold Last State and User-Defined
Safe State features.
Inhibiting I/O Module Operation
In some situations, such as when initially commissioning a system, it is
useful to disable portions of a control system and enable them as you wire
up the control system. The controller lets you inhibit individual modules or
groups of modules, which prevents the controller from trying to
communicate with these modules. Inhibiting a module shuts down the
connection from the controller to that module.
When you create an I/O module, it defaults to being not inhibited. You can
change an individual module’s properties to inhibit a module.
!
ATTENTION: Inhibiting a module causes the connection to the
module to be broken and prevents communication of I/O data.
The controller and other I/O modules continue to operate based
on old data from that module. To avoid potential injury and
damage to machinery, make sure this does not create unsafe
operation.
Placing and Configuring Local I/O
On the Connection tab of the Module Properties dialog, you can select to
inhibit that specific module.
ahw0817.tif
3-10
TIP: To easily inhibit all local I/O modules, you can inhibit the
CompactBus, which in turn inhibits all the modules on that bus. See
Configuring the CompactBus on page 3-5.
When you select to inhibit a module, the controller organizer displays a
yellow circle symbol
over the module.
If you are:
Inhibit a module to:
offline
put a place holder for a module you are configuring.
The inhibit status is stored in the project. When you download the project, the module is still inhibited.
online
stop communication to a module.
If you inhibit a module while you are connected to the module, the connection to the module is
closed. The module’s outputs turn off.
If you inhibit a module but a connection to the module was not established (perhaps due to an error
condition or fault), the module is inhibited. The module status information changes to indicate that the
module is inhibited and not faulted.
If you uninhibit a module (clear the check box), and no fault condition occurs, a connection is made to
the module and the module is dynamically reconfigured with the configuration you created for that
module.
If you uninhibit the module and a fault condition occurs, a connection is not made to the module. The
module status information changes to indicate the fault condition.
To inhibit a module from logic, you must first read the Mode attribute for
the module using a GSV instruction. Set bit 2 to the inhibit status (1 to
Placing and Configuring Local I/O
3-11
inhibit or 0 to uninhibit). Use a SSV instruction to write the Mode attribute
back to the module. For example:
The GSV instruction gets the current status of the module named “input_module.” The SSV instruction sets the state of “input_module” as either
inhibited or uninhibited.
GSV ladder.tif
When on, inhibits the module.
When off, uninhibits the module.
Sending Module Configuration Information
The controller sends module configuration information once module
connections are established.
!
ATTENTION: If you make a configuration change to any
module in the system do one of the following to resend module
configuration data:
• cycle power to the controller
• inhibit and then uninhibit the bus
• inhibit and then uninhibit the individual module
• send a MSG instruction of type Module Reconfigure (for
information on configuring a MSG to send configuration data,
see the Logix5000 Controllers General Instructions Reference
Manual, publication 1756-RM003)
3-12
Placing and Configuring Local I/O
Configuring the Controller’s Response to a Connection Failure
In a DriveLogix5730 system, the controller’s response to a CompactBus
connection failure is dependant on the setting of the individual compact I/O
modules.
ahw0817.tif
Important: The controller’s response to a connection failure of any I/O
module is dependant on the configuration of the I/O modules. If
any I/O module has the "Major Fault On Controller If
Connection Fails While in Run Mode" checkbox selected, the
controller will fault on any I/O fault.
The I/O modules respond to a connection failure by turning off output.
Accessing I/O Data
The programming software displays I/O data as structures of multiple tags
that depend on the specific features of the I/O module. The names of the
data structures are based on the location of the I/O module. The
programming software automatically creates the necessary structures and
tags when you configure the module. Each tag name follows this format:
Location:SlotNumber:Type.MemberName.SubMemberName.Bit
where:
This address variable:
Is:
Location
Identifies network location
LOCAL = local chassis
SlotNumber
Slot number of I/O module in its chassis
Type
Type of data
I = input
O = output
C = configuration
Placing and Configuring Local I/O
3-13
This address variable:
Is:
MemberName
Specific data from the I/O module; depends on the type of data the
module can store
For example, Data and Fault are possible fields of data for an I/O
module. Data is the common name for values that are sent to or
received from I/O points.
SubMemberName
Specific data related to a MemberName.
Bit (optional)
Specific point on the I/O module; depends on the size of the I/O
module (0-31 for a 32-point module)
The following examples show addresses for data in a DriveLogix5730
system.
Example:
ahw0818.eps
I/O module on the local CompactBus utilizing two banks
1
2
Bank 1
3
4 5
Bank 2
3-14
Placing and Configuring Local I/O
Sample tag names for this example:
Location:
Example Tag Name:
input module in slot 1, LOCAL Bank 1
Local:1:C
Local:1:I
output module in slot 2, LOCAL Bank 1
Local:2:C
Local:2:I
Local:2:O
analog input module in slot 3, LOCAL Bank 2
Local:3:C
Local:3:I
analog output module in slot 4, LOCAL Bank 2
Local:4:C
Local:4:I
Local:4:O
analog input module in slot 5, LOCAL Bank 2
Local:5:C
Local:5:I
Using aliases to simplify tag names
An alias lets you create a tag that represents another tag. This is useful for
defining descriptive tag names for I/O values. For example:
Example:
Direct Connections for I/O
Modules
Description:
I/O structure
Local:1:I:Data[0].0
Local:1:I:Fault.0
alias
light_on = Local:1:I:Data[0].0
module_failed = Local:1:I:Fault.0
The aliases describe the specific I/O
points.
Each local I/O module uses a direct connection to the DriveLogix5730
controller. A direct connection is a real-time, data transfer link between the
controller and an I/O module. The controller maintains and monitors the
connection between the controller and the I/O module. Any break in the
connection, such as a module fault, causes the controller to set fault status
bits in the input data area associated with the module.
!
ATTENTION: The DriveLogix5730 controller does not support
Removal and Insertion Under Power (RIUP). While the
DriveLogix5730 system is under power:
• any break in the connection between the power supply and the
controller (i.e. removing the power supply, controller, or an I/
O module) may subject the logic circuitry to transient
conditions above the normal design thresholds and may result
in damage to system components or unexpected behavior.
• removing an end cap or an I/O module may fault the
controller and may also result in damage to system
components.
Placing and Configuring Local I/O
Monitoring I/O Modules
3-15
The DriveLogix5730 controller offers different levels at which you can
monitor I/O modules. You can:
• use the programming software to display fault data (See Displaying Fault
Data on page 3-15)
• program logic to monitor fault data so you can take appropriate action
(Refer to Logix5000 Controllers Common Procedures Programming
Manual, publication number 1756-PM001, for examples.)
Displaying Fault Data
Fault data for certain types of module faults can be viewed through the
programming software.
ahw0819.tif
To view this data, select Controller Tags in the Controller Organizer.
Right-click to select Monitor Tags.
3-16
Placing and Configuring Local I/O
The display for the fault data defaults to decimal. Change it to Hex to read
the fault code.
fault_word.eps
If the module faults, but the connection to the controller remains open, the
controller tags database displays the fault value 16#0E01_0001. The fault
word uses this format:
31
27
23
19
15
11
Fault_Code_Value
reserved
FaultCode
7
3
0
reserved
FaultInfo
0 = connection open
1 = connection closed
}
Connection_Closed
Fault_Bit
Where:
Bit
Description
Fault_Bit
This bit indicates that at least one bit in the fault word is set (1). If all the bits in the fault word are
cleared (0), this bit is cleared (0).
Connection_Closed
This bit indicates whether the connection to the module is open (0) or closed (1). If the connection
is closed (1), the Fault_Bit it set (1).
ahw0817.tif
You can also view module fault data on the Connection tab of the Module
Properties screen.
See your 1769 module’s user documentation for a description of module
faults. To recover from module faults, correct the module fault condition
and send new data to the module by downloading the user program with
configuration data, inhibiting and then uninhibiting the module, or cycling
power.
Placing and Configuring Local I/O
3-17
End-cap Detection and Module Faults
If a module that is not adjacent to an end cap experiences a fault and the
connection to the controller is not broken, only the module enters the fault
state.
If a module that is adjacent to an end cap experiences a fault, the module
will fault and the controller may fault.
2.
In the Controller Organizer, select CompactBus Local icon. Right click and
select New Module.
Select the 1769-MODULE (Generic 1769 Module).
ahw0820.tif
1.
Use the Generic 1769 Module only when a 1769 I/O module does not
appear in the list of modules to add to the Controller Organizer. To
configure a 1769 I/O module for a DriveLogix5730 controller using the
generic 1769-MODULE:
ahw0813.tif
Configuring I/O Modules
Using the Generic
1769-MODULE
3-18
Placing and Configuring Local I/O
ahw0821.tif
3.Configure the module, using the module wizard to specify characteristics. Click Next to advance the wizard. Click Finish
when you are done.
The completed module will appear in the
Controller Organizer.
The generic module requires
you to specify more
parameters of the module.
Important: The values you enter for these parameters are device specific.
See the documentation for the device to determine which values
to enter.
On the generic module screen, you define the parameters of the module.
In this field:
Specify:
Name
name of the module
Description
(optional) provide more details about the module
Comm Format
communication format
1769 analog output modules, digital output modules, analog combination modules, and digital
combination modules, use Data – INT.
1769 analog input modules and digital input modules use Input Data – INT.
Slot
slot placement of the module on the CompactBus
Connection Parameters
Input
Output
Configuration
connection information unique to the module
The documentation for module should list the assembly instance and size numbers for the input,
output, and configuration parameters.
Placing and Configuring Local I/O
3-19
Entering the Configuration Information for the Module
Once you configure a module using the generic 1769-MODULE, you must
enter the configuration information for the module into the tag database.
The configuration information is downloaded to the module at program
download, power up, and whenever a module is inhibited and then
uninhibited.
In the Controller Organizer, double-click on Controller Tags.
2.
Edit the tags for the module so that the tags contain the appropriate configuration
ahw0822.tif
ahw0823.tif
1.
The generic module was added to slot 3, so you want to enter
configuration data into the Local:3:C tags.
RSLogix 5000 programming software automatically create tags for
configured I/O modules. All local I/O addresses are preceded by the word
Local. These addresses have the following format:
• Input Data: Local:s:I
• Output Data: Local:s:O
• Configuration Data: Local:s:C
Where s is the slot number assigned the I/O module.
Open the configuration tag for that module by clicking on the plus sign to
the left of its configuration tag in the tag database. The configuration
information depends on the module. See the documentation on the I/O
module for the appropriate configuration information.
3-20
Notes:
Placing and Configuring Local I/O
Chapter
4
Configuring DriveLogix Motion
De-energizing the Drive to
Connect or Disconnect a
Cable
!
ATTENTION: Severe injury or death can result from electrical
shock or burn. Verify that the voltage on the bus capacitors has
discharged before connecting to the communication ports.
Measure the DC bus voltage at the +DC & -DC terminals on the
Power Terminal Block. The voltage must be zero.
During the process of configuring DriveLogix motion you will need to
connect or disconnect a programming or network cable at the controller.
You should do this only if the drive is de-energized.
1. Turn off and lock out input power. Wait five minutes.
2. Verify that there is no voltage at the drive’s input power terminals.
3. Measure the DC bus voltage at the +DC & -DC terminals on the Power
Terminal Block. The voltage must be zero.
4. Connect or disconnect the programming or network cable.
5. Turn power back on and proceed with configuring DriveLogix motion.
About this Chapter
This chapter introduces DriveLogix5730 motion. The steps in this chapter
provide the minimum settings required to begin testing DriveLogix motion.
System Requirements
•
•
•
•
PowerFlex 700S Phase II Drive with firmware revision 2.XX or higher
DriveLogix5730 Controller with firmware revision 15.XX or higher
DriveExecutive programming software version 3.02 or higher
RSLogix 5000 programming software version 15 or higher
4-2
Configuring DriveLogix Motion
Programming the Controller In RSLogix 5000, create a new project.
1. From the File menu, select New.
2. In the New Controller dialog define the project:
a. Use Revision 15 or higher.
b. Enter a Name for the project (e.g., Motion_Drive).
c. Click the OK button.
Configuring DriveLogix Motion
3. In the Controller Organizer:
a. Right-click on the I/O Configuration folder.
b. Select New Module from the menu.
4. In the Select Module dialog, click the plus sign (+) next to Drives to
expand the selection.
4-3
4-4
Configuring DriveLogix Motion
5. Select the desired drive (PowerFlex 700S 2-400V in this example) and
click the OK button.
6. In the Major Revision dialog:
a. Select the Major Revision number and click the OK button.
7. Configure the Drive by specifying the characteristics of the module
using the New Module dialog:
a. Enter a name for the drive in the Name field (Drive_Axis in this
example).
a. Select Motion Control in the Comm Format box.
b. Verify that the Open Module Properties box is checked.
c. Click the OK button.
Configuring DriveLogix Motion
4-5
8. On the Connections tab of the Modules Properties dialog:
a. Change the value on the Requested Packet Interval (RPI) box to
3.0 ms.
b. Click on the Associated Axis tab and click the New Axis button to
assign a channel to Axis00.
c. In the New Tag dialog, create a new tag structure for Axis00 by
typing Axis00 in the Name field and clicking the OK button.
d. On the Associated Axis tab, click the New Axis button to assign a
channel to Axis01.
4-6
Configuring DriveLogix Motion
e. In the New Tag dialog, create a new tag structure for Axis01 by
typing Axis01 in the Name field and clicking the OK button.
f.
On the Associated Axis tab, click the drop-down arrow next to
Channel 0 (Primary) and select Axis00.
g. On the Associated Axis tab, click the drop-down arrow next to
Channel 1 (Auxiliary) and select Axis01.
Configuring DriveLogix Motion
9. Click on the Power tab and select the proper Drive Rating.
10. Click the Apply button.
11. Click the OK button.
12. Create a new Motion Group.
a. In the Controller Organizer, right-click on Motion Groups.
b. Select New Motion Group from the menu.
4-7
4-8
Configuring DriveLogix Motion
c. Enter a Name for the Motion Group (Grouped_Axis in this
example).
d. Verify that the Open MOTION_GROUP Configuration box is
checked.
e. Click on the OK button.
13. In the Motion Group Wizard dialog, move each axis from the
Unassigned box to the Assigned box by clicking on the axis name and
then clicking the Add button.
14. Click the Next button.
Configuring DriveLogix Motion
4-9
15. Finish creating the new Motion Group:
a. Set the Coarse Update Period to 4ms for version 13.xx or lower,
or to 2ms for version 15.xx or higher. This is the minimum time
usable with DriveLogix motion.
b. Set the Auto Tag Update to Enabled.
c. Set the General Fault Type to Non Major Fault.
d. Click the Finish button.
16. Configure Axis00.
a. Right click on the axis you want to configure (Axis00 in this
example).
b. Select Properties in the menu.
4-10
Configuring DriveLogix Motion
17. On the General tab:
a. Associate the module with the drive. Match the Module name with
the drive’s name in the I/O Configuration.
b. Set the Channel to the channel being used for the encoder. Channel
0 must be selected for the Servo axis and Channel 1 can be used
only for feedback.
18. On the Motion Planner tab, determine how many Output Cam execution
nodes (instances) are created for a specific axis The value specified for
Output Cam Execution Target in the MAOC instruction references a
specific instance in which a value of zero selects the first instance.
Configuring DriveLogix Motion
4-11
19. On the Units tab, define the Position Units. In this example the Position
Units are revs (revolutions). Position Units can be almost anything (e.g.
degrees, radians, pallets, widgets etc.).
20. Define Average Velocity Timebase as the sample rate that is used for
the Average Velocity tag in the controller tags.
21. On the Conversion tab, setup the Positioning Mode for Linear to Rotary.
22. The Conversion Constant is the number of feedback counts per Position
Unit.
4-12
Configuring DriveLogix Motion
23. On the Dynamics tab, define the limits for speed, acceleration, and
deceleration.
Important: Do not exceed the system dynamics.
24. On the Homing tab, setup the Homing Mode, Position, Offset and
Sequence values. Refer to the following tables.
Mode
Active - the desired homing sequence is selected by specifying whether a home limit switch and/or the encoder marker are used for
this axis. Active homing sequences always use the trapezoidal velocity profile.
Passive - homing redefines the absolute position of the axis on the occurrence of a home switch or encoder marker event. Passive
homing is most commonly used to calibrate uncontrolled axes, although it can also be used with controlled axes to create a custom
homing sequence. Passive homing, for a given home sequence, works similar to the corresponding active homing sequence, except
that no motion is commanded; the controller just waits for the switch and marker events to occur.
Position
Type the desired absolute position, in position units, for the axis after the specified homing sequence has been completed. In most
cases, this position will be set to zero, although any value within the software travel limits can be used. After the homing sequence is
complete, the axis is left in this position.
If the Positioning Mode (set in the Conversion tab) of the axis is Linear, then the home position should be within the travel limits, if
enabled. If the Positioning Mode is Rotary, then the home position should be less than the unwind distance in position units.
Configuring DriveLogix Motion
Offset
Type the desired offset (if any) in position units the axis is to move, upon completion of the homing sequence, to reach the home
position. In most cases, this value will be zero.
Sequence
Select the event that will cause the Home Position to be set:
Sequence Type
Description
Immediate
Sets the Home Position to the present actual position, without motion.
Switch
Sets the Home Position when axis motion encounters a home limit switch.
Marker
Sets the Home Position when axis encounters an encoder marker.
Switch-Marker
Sets the Home Position when axis first encounters a home limit switch, then encounters an encoder marker.
4-13
Important: Selecting a Homing Sequence event will configure parameters 825 [Dig In1 Sel] and 826 [Dig In2 Sel] in the host
PowerFlex 700S drive.
Limit
Switch
If a limit switch is used, indicate the normal state of that switch (i.e., before being engaged by the axis during the homing sequence):
Normally Open
Normally Closed
Direction
For active homing sequences, except for the Immediate Sequence type, select the desired homing direction:
Forward
Uni-directional
The axis jogs in the positive axial direction until a homing event (switch or marker) is encountered, then continues
in the same direction until axis motion stops (after decelerating or moving the Offset distance).
Forward
Bi-directional
The axis jogs in the positive axial direction until a homing event (switch or marker) is encountered, then reverses
direction until motion stops (after decelerating or moving the Offset distance).
Reverse
Uni-directional
The axis jogs in the negative axial direction until a homing event (switch or marker) is encountered, then continues
in the same direction until axis motion stops (after decelerating or moving the Offset distance).
Reverse
Bi-directional
The axis jogs in the negative axial direction until a homing event (switch or marker) is encountered, then reverses
direction until motion stops (after decelerating or moving the Offset distance).
25. When you have completed defining the axis, click the Apply, then the
OK button.
26. Configure Axis01 by repeating the tasks in Steps 16 - 25.
Important:Only Channel 0 will function for a Servo axis. Channel 1
may be used for a Feedback Only axis.
27. Save the RSLogix 5000 project and download it to the controller.
!
ATTENTION: Running the system without proper tuning can
cause unstable and unpredictable operation. To avoid potential
personal injury and damage to machinery, determine the proper
values for system dynamics and tune the system before
beginning operation.
4-14
Configuring DriveLogix Motion
Launching DriveExecutive
from RSLogix
Next open the drive properties window and launch DriveExecutive drive
programming software.
ahw0869.tif
1.In the Controller Organizer, select the PowerFlex 700S drive. Right-click the drive module and select Properties
ahw0870.tif
That will launch the Module Properties Window for the drive.
Click on the Setup tab.
Configuring DriveLogix Motion
2.Type the desired DriveExecutive filename or browse for an existing one.
ahw0872.tif
ahw0871.tif
Then click Apply.
3.Click the Launch DriveExecutive button to launch DriveExecutive Lite.
4-15
4-16
Configuring DriveLogix Motion
Configuring the Drive with
DriveExecutive Software
In DriveExecutive software, connect to the drive and access the Display
DriveLogix dialog as shown below:
ahw0824.tif
1.From the Drive Menu, select Display DriveLogix.
ahw0825.tif
2.Click on the From DriveLogix tab.
3.Verify that the Communication Format
is set to Motion Control.
Click OK to apply and close the DriveLogix Setup
Dialog.
Next link the appropriate parameters to the words being produced and
consumed by the controller.
5.Click on the Link Source tab.
6.Type or select the desired Source
parameter.
ahw0826.tif
4.On the Links view, double-click on the
desired Sink parameter.
4-17
ahw0827.tif
Configuring DriveLogix Motion
4-18
Configuring DriveLogix Motion
Create the links in the table below:
Table 4.A Parameter Links for DriveLogix Motion Configuration
Destination (Sink)
Parameter
12 [Speed Ref 2]
Source Parameter
751 [Interp Speed]
22 [Speed Trim 2]
318 [Posit Spd Output]
23 [Speed Trim 3]
55 [Speed Comp]
626 [To DriveLogix00]
155 [Logic Status]
693 [Intrep SyncInput]
700 [Motn Posit Sync]
748 [CoarsePosit Trgt]
698 [Motn Posit Cmmd]
750 [Coarse Spd Trgt]
699 [Motn Mx Pos Trvl]
Description
Speed reference from the Coarse to Fine
Interpolator, to Speed Ref 2
This is a default link. It connects the position
regulator in the drive to the velocity loop.
This setup is for speed compensation to
reduce position error.
The status of the drive is sent to the
DriveLogix.
The drive receives the synchronization pulse
from the DriveLogix. This keeps the
interpolators synchronized.
The position interpolator of the drive
receives the coarse position target from the
DriveLogix Motion Interpolator
The Speed loop of the drive receives the
coarse velocity target from the DriveLogix
Motion Interpolator
ahw0828.tif
Next, make the appropriate parameter settings.
7.On the Parameters view,
double-click on the desired parameter.
4-19
ahw0829.tif
Configuring DriveLogix Motion
8.Type the desired value.
Make the parameter settings shown in the table below:
Table 4.B Parameter Settings for DriveLogix Motion Configuration
Parameter
13 [Spd Ref2 Multi]
24 [Spd Trim 3 Scale]
27 [Speed Ref A Sel]
146 [FW TaskTime Sel](1)
147 [FW Functions En]
151 [Logic Command]
222 [Motor Fdbk Sel Pri]
600 [Lgx Comm Format]
686 [Motn Config]
701 [FdbkAxis FdbkSel]
740 [Position Control]
742 [Position Ref Sel]
824 [Local I/O Status]
904 [SL Node Cnfg] (1)
(1)
Value
1
0.003
2
0
16 = 1
Bit 0 = 1
Bit10 = 1
Bit13 = 1
0-6
Description
Speed Ref 2 scale value
Speed Trim 3 scale value
Select Speed Ref 2 as the speed reference
Firmware Task Time Selection.
Position Control enabled
Bit 0 bypasses the speed ramp in the drive
Bit 10 enables Inertia Comp
Bit 13 enables the position loop within the drive.
Select the Motor Speed Feedback being used. This is also
the feedback for the Servo Axis in DriveLogix Motion Group
19
This selects the format of the commands coming from
DriveLogix
Bits 0 - 2 Bit 0 = Change the polarity of the feedback only feedback
axis
Bit 1 = Enable Software Overtravel Limits
Bit 2 = Enable Hardware Overtravel Limits
1 – 10
This selects the feedback channel used for the “Feedback
Only axis” in the Motion Group in DriveLogix.
Encoders, Optional Feedback, and SynchLink selections.
See User Manual for details.
Bit 1 = 1 This sets the position regulator to work with the DriveLogix
Bit 6 = 0 configuration and enables the Integral part of the regulator
Bit 2 = 1
Bit 8 = 0
0
This configures the drive position loop to receive position
commands from DriveLogix via the Interpolator
Bit 0 = 0 Eliminate erroneous physical axis faults
Bit 1 = 1
Bit 0 =1 This sets up the SynchLink as the time keeper. This is used
to synchronize the Drive and DriveLogix.
Changes to these parameters require a drive reset before the changes will take effect. The HIM will indicate
“Reset Req’d” on the status line.
4-20
Configuring DriveLogix Motion
Downloading the Settings
and Links to the Drive
ahw0873.tif
1.From the Drive Menu, select Display Download.
2.Using the resulting windows and RSLinx navigate to the drive and download the settings
and links.
Additional Testing and
Programming is Necessary
The steps in this chapter provide the minimum settings required to begin
testing DriveLogix motion.
!
ATTENTION: Running the system without proper tuning can
cause unstable and unpredictable operation. To avoid potential
personal injury and damage to machinery, determine the proper
values for system dynamics and tune the system before
beginning operation.
You must perform testing to determine the actual system dynamics and tune
the drive.
In addition, you must create ladder logic that uses the Logix Motion
Instructions. Refer to Supported Motion Commands on page 4-21 and
publication 1756-RM007, Reference Manual - Logix Controller Motion
Instruction Set.
!
ATTENTION: There is no default Position Error Fault logic in
this system. To avoid potential personal injury and damage to
machinery, detect Position Error faults, by using parameter links
and ladder logic.
Configuring DriveLogix Motion
Supported Motion
Commands
4-21
The following Logix Motion Instructions are supported by the DriveLogix
controller:
Motion State
•
•
•
•
•
MSO (Motion Servo On)
MSF (Motion Servo Off)
MASD (Motion Axis Shutdown)
MASR (Motion Axis Shutdown Reset)
MAFR (Motion Axis Fault Reset)
Motion Move
•
•
•
•
•
•
•
•
•
•
MAJ (Motion Axis Jog)
MAM (Motion Axis Move)
MAS (Motion Axis Stop)
MAH (Motion Axis Home)
MAG (Motion Axis Gearing)
MCD (Motion Change Dynamics)
MRP (Motion Redefine Position)
MCCP (Motion Calculate Position Profile)
MAPC (Motion Axis Position Cam)
MATC (Motion Axis Time Cam)
Motion Event
•
•
•
•
•
•
MAW (Motion Arm Watch)
MDW (Motion Disarm Watch)
MAR (Motion Arm Registration)
MDR (Motion Disarm Registration)
MAOC (Motion Arm Output Cam)
MDOC (Motion Disarm Output Cam)
Motion Group
•
•
•
•
MGS (Motion Group Stop)
MGSD (Motion Group Shutdown)
MGSR (Motion Group Shutdown Reset)
MGSP (Motion Group Strobe Position)
4-22
Notes:
Configuring DriveLogix Motion
Chapter
5
Communicating with Devices on a Serial Link
De-energizing the Drive to
Connect or Disconnect a
Cable
!
ATTENTION: Severe injury or death can result from electrical
shock or burn. Verify that the voltage on the bus capacitors has
discharged before connecting to the communication ports.
Measure the DC bus voltage at the +DC & -DC terminals on the
Power Terminal Block. The voltage must be zero.
During the process of configuring serial communication you will need to
connect or disconnect a programming or network cable at the controller.
You should do this only if the drive is de-energized.
1. Turn off and lock out input power. Wait five minutes.
2. Verify that there is no voltage at the drive’s input power terminals.
3. Measure the DC bus voltage at the +DC & -DC terminals on the Power
Terminal Block. The voltage must be zero.
4. Connect or disconnect the programming or network cable.
5. Turn power back on and proceed with configuring serial communication.
Configuring Your System for For the DriveLogix controller to operate on a serial network, you need:
a Serial Link
• a workstation with a serial port
• RSLinx software to configure the serial communication driver
• RSLogix 5000 programming software to configure the serial port of the
controller
Important: Limit the length of serial (RS-232) cables to 15.2m (50 ft.).
Communicating with Devices on a Serial Link
Configuring the Hardware
The RS-232 port is an isolated serial port built-in to the front of the Main
Control Board. Refer to Opening Door Over Power Structure and Main
Control Board on page B-2.
ahw0914.eps
Serial Port
To connect to the serial port:
1. Select the appropriate cable.
The 1756-CP3 cable attaches the controller directly to the controller.
1 CD
1 CD
2 RDX
2 RDX
3 TXD
3 TXD
4 DTR
4 DTR
COMMON
COMMON
6 DSR
6 DSR
7 RTS
7 RTS
8 CTS
8 CTS
9
9
40046.eps
5-2
If you make your own cable, it must be shielded and the shields must be
tied to the metal shell (that surrounds the pins) on both ends of the cable.
You can also use a 1747-CP3 cable (from the SLC product family). This
cable has a taller right-angle connector housing than the 1756-CP3 cable.
2. Connect the cable to the serial port on the controller.
Communicating with Devices on a Serial Link
Configuring the Serial Port of the Controller
1.
In the Controller Organizer, select the Controller folder. Right-click the
selected folder and select Properties.
On the Serial tab, specify serial port characteristics.
ahw0915.tif
ahw0916.tif
2.
Characteristic:
Description (default is shown in bold):
Mode
Select System (for DF1 communication) or User mode (for ASCII communication).
Baud rate
Specifies the communication rate for the serial port. Select a baud rate that all devices in your
system support.
Select 110, 300 600, 1200, 2400, 4800, 9600, 19200, or 38400 Kbps.
Parity
Specifies the parity setting for the serial port. Parity provides additional message-packet error
detection.
Select None or Even.
Data bits
Specifies the number of bits per message packet.
Select 8.
Stop bits
Specifies the number of stop bits to the device with which the controller is communicating.
Select 1 or 2.
Control line
Specifies the mode in which the serial driver operates.
Select No Handshake, Full-Duplex, Half-Duplex with Continuous Carrier, or Half-Duplex without
Continuous Carrier.
If you are not using a modem, select No Handshake
If both modems in a point-to-point link are full-duplex, select Full-Duplex for both controllers.
5-3
5-4
3.
Communicating with Devices on a Serial Link
On the System Protocol tab, select the appropriate DF1 communication
mode for point-to-point or master/slave communications.
ahw0918.tif
ahw0917.tif
Or use the User Protocol tab to specify ASCII protocol to communicate to
an ASCII device.
Use this mode:
For:
See page:
DF1 point-to-point
communication between the controller and one other DF1-protocol-compatible device.
This is the default system mode.
This mode is typically used to program the controller through its serial port.
5-6
DF1 master mode
control of polling and message transmission between the master and slave nodes.
The master/slave network includes one controller configured as the master node and as many
as 254 slave nodes. Link slave nodes using modems or line drivers.
A master/slave network can have node numbers from 0-254. Each node must have a unique
node address. Also, at least 2 nodes must exist to define your link as a network (1 master and
1 slave station are the two nodes).
5-9
DF1 slave mode
using a controller as a slave station in a master/slave serial communication network.
When there are multiple slave stations on the network, link slave stations using modems or
line drivers. When you have a single slave station on the network, you do not need a modem
to connect the slave station to the master; you can configure the control parameters for no
handshaking. You can connect 2-255 nodes to a single link. In DF1 slave mode, a controller
uses DF1 half-duplex protocol.
One node is designated as the master and it controls who has access to the link. All the other
nodes are slave stations and must wait for permission from the master before transmitting.
5-8
User mode
communicating with ASCII devices
This requires your program logic to use the ASCII instructions to read and write data from and
to an ASCII device.
5-12
Important: Half-Duplex settings do not work as with other Logix
controllers. RTS and CTS are not functional.
Communicating with Devices on a Serial Link
5-5
Configuring the Communication Driver
Use RSLinx software to configure the serial communication driver. Select
the “DF1” driver.
1.
In the Communications menu, select the Configure Driver.
Specify a name for the driver and click OK.
3.
Specify the appropriate communication settings.
ahw0483.tif
ahw0484.tif
2.
ahw0482.tif
ahw0481.tif
From the Available Driver Type list select the DF1 Driver, then click
Configure.
5-6
Communicating with Devices on a Serial Link
In the following example, a workstation directly connects to a
DriveLogi5730 controller over a serial link. This is useful for downloading
a controller project directly to the controller.
ahw0919.eps
Example 1: Workstation
Directly Connected to a
DriveLogix Controller
Use RSLogix 5000 programming software to configure the controller’s
serial port for the DF1 point-to-point (full-duplex) protocol. This type of
protocol supports simultaneous transmission between two devices in both
directions. The DF1 point-to-point protocol controls message flow, detects
and signals errors, and retries if errors are detected.
Configuring a DF1 Point-to-Point Station
This field:
Description:
Station address
The station address for the serial port on the DF1 point-to-point network. Enter a valid DF1 address
(0-254). Address 255 is reserved for broadcast messages. The default is 0.
NAK receive limit
Specifies the number of NAKs the controller can receive in response to a message transmission.
Enter a value 0-127. The default is 3.
ENQ transmit limit
Specifies the number of inquiries (ENQs) you want the controller to send after an ACK timeout.
Enter a value 0-127. The default is 3.
ACK timeout
Specifies the amount of time you want the controller to wait for an acknowledgment to its message
transmission.
Enter a value 0-32767. Limits are defined in 20ms intervals. The default is 50 (1000ms).
Embedded response
Specifies how to enable embedded responses.
Select Autodetect (enabled only after receiving one embedded response) or Enabled. The default is
Autodetect.
Error detection
Select BCC or CRC error detection.
Configure both stations to use the same type of error checking.
BCC: the controller sends and accepts messages that end with a BCC byte for error checking. BCC
is quicker and easier to implement in a computer driver. This is the default.
CRC: the controller sends and accepts messages with a 2-byte CRC for error checking. CRC is a
more complete method.
Enable duplicate
detection
Select whether or not the controller should detect duplicate messages. The default is duplicate
detection enabled.
Communicating with Devices on a Serial Link
In the following example, a workstation remotely connects to a DriveLogix
controller over s serial link. A modem is connected to the controller to
provide remote access.
ahw0920.eps
Example 2: Workstation
Remotely Connected to a
DriveLogix Controller
5-7
modem
modem
If you use a modem to remotely connect the controller to one workstation,
use RSLogix 5000 programming software to configure the serial port of the
controller for the DF1 point-to-point (full-duplex) protocol, as in the
previous example. If the controller is part of a master/slave serial network,
configure the serial port of the controller for either the DF1 master or DF1
slave protocol (both half-duplex).
5-8
Communicating with Devices on a Serial Link
Master/Slave Communication Methods
A master station can communicate with a slave station in two ways:
Name:
This method:
Benefits:
standard
communication mode
Initiates polling packets to slave stations
according to their position in the polling array(s).
Polling packets are formed based on the contents
of the normal poll array and the priority poll array.
This communication method is most often used for point-to-multipoint
configurations.
This method provides these capabilities:
• slave stations can send messages to the master station (polled
report-by-exception)
• slave stations can send messages to each other via the master
• master maintains an active station array
The poll array resides in a user-designated data file. You can configure
the master:
• to send messages during its turn in the poll array
or
• for between-station polls (master transmits any message that it
needs to send before polling the next slave station)
In either case, configure the master to receive multiple messages or a
single message per scan from each slave station.
message-based
communication mode
initiates communication to slave stations using
only user-programmed message (MSG)
instructions.
Each request for data from a slave station must
be programmed via a MSG instruction.
The master polls the slave station for a reply to
the message after waiting a user-configured
period of time. The waiting period gives the slave
station time to formulate a reply and prepare the
reply for transmission. After all of the messages in
the master’s message-out queue are transmitted,
the slave-to-slave queue is checked for messages
to send.
If your application uses satellite transmission or public
switched-telephone-network transmission, consider choosing
message-based communication. Communication to a slave station
can be initiated on an as-needed basis.
Also choose this method if you need to communicate with
non-intelligent remote terminal units (RTUs).
Configuring a DF1 Slave Station
This field:
Description:
Station address
The station address for the serial port on the DF1 slave.
Enter a valid DF1 address (0-254). Address 255 is reserved for broadcast messages. The default is 0.
Transmit retries
The number of times the remote station retries a message after the first attempt before the station declares the message
undeliverable.
Enter a value 0-127. The default is 3.
Slave poll timeout
Specifies the amount of time the slave station waits to be polled by a master before indicating a fault.
Enter a value 0-32767. Limits are defined in 20ms intervals. The default is 3000 (60,000ms).
EOT suppression
Select whether or not to suppress sending EOT packets in response to a poll. The default is not to suppress sending
EOT packets.
Error detection
Select BCC or CRC error detection.
Configure both stations to use the same type of error checking.
BCC: the controller sends and accepts messages that end with a BCC byte for error checking. BCC is quicker and
easier to implement in a computer driver. This is the default.
CRC: the controller sends and accepts messages with a 2-byte CRC for error checking. CRC is a more complete
method.
Enable duplicate
detection
Select whether or not the controller should detect duplicate messages. The default is duplicate detection enabled.
Communicating with Devices on a Serial Link
5-9
Configuring a DF1 Master Station
This field:
Description:
Station address
The station address for the serial port on the DF1 master.
Enter a valid DF1 address (0-254). Address 255 is reserved for broadcast messages. The default is 0.
Transmit retries
Specifies the number of times a message is retried after the first attempt before being declared undeliverable.
Enter a value 0-127. The default is 3.
ACK timeout
Specifies the amount of time you want the controller to wait for an acknowledgment to its message transmission.
Enter a value 0-32767. Limits are defined in 20ms intervals. The default is 50 (1000ms).
Reply message wait
Message-based polling mode only
Specifies the amount of time the master station waits after receiving an ACK to a master-initiated message before
polling the slave station for a reply.
Enter a value 0-65535. Limits are defined in 20ms intervals. The default is 5 (100ms).
Polling mode
Select one of these:
• Message Based (slave cannot initiate messages)
• Message Based (slave can initiate messages) - default
• Standard (multiple message transfer per node scan)
• Standard (single message transfer per node scan)
Master transmit
Standard polling modes only
Select when the master station sends messages:
• between station polls (default)
• in polling sequence
Normal poll node tag
Standard polling modes only
An integer tag array that contains the station addresses of the slave stations.
Create a single-dimension array of data type INT that is large enough to hold all the normal station addresses. The
minimum size is three elements.
This tag must be controller-scoped. The format is:
list[0] contains total number of stations to poll
list[1] contains address of station currently being polled
list[2] contains address of first slave station to poll
list[3] contains address of second slave station to poll
list[n] contains address of last slave station to poll
Normal poll group size
Standard polling modes only
The number of stations the master station polls after polling all the stations in the priority poll array. Enter 0 (default) to
poll the entire array.
Priority poll node tag
Standard polling modes only
An integer tag array that contains the station addresses of the slave stations you need to poll more frequently.
Create a single-dimension array of data type INT that is large enough to hold all the priority station addresses. The
minimum size is three elements.
This tag must be controller-scoped. The format is:
list[0] contains total number of stations to be polled
list[1] contains address of station currently being polled
list[2] contains address of first slave station to poll
list[3] contains address of second slave station to poll
list[n] contains address of last slave station to poll
Active station tag
Standard polling modes only
An array that stores a flag for each of the active stations on the DF1 link.
Both the normal poll array and the priority poll array can have active and inactive stations. A station becomes inactive
when it does not respond to the master’s poll.
Create a single-dimension array of data type SINT that has 32 elements (256 bits). This tag must be controller-scoped.
Error detection
Select BCC or CRC error detection.
Configure both stations to use the same type of error checking.
BCC: the controller sends and accepts messages that end with a BCC byte for error checking. BCC is quicker and
easier to implement in a computer driver. This is the default.
CRC: the controller sends and accepts messages with a 2-byte CRC for error checking. CRC is a more complete
method.
Enable duplicate
detection
Select whether or not the controller should detect duplicate messages. The default is duplicate detection enabled.
5-10
Communicating with Devices on a Serial Link
If you choose one of the standard polling modes
The master station polls the slave stations in this order:
1. all stations that are active in the priority poll array
2. one station that is inactive in the priority poll array
3. the specified number (normal poll group size) of active stations in the
normal poll array
4. one inactive station, after all the active stations in the normal poll array
have been polled
Use the programming software to change the display style of the active
station array to binary so you can view which stations are active.
In the following example, a workstation connects to a bar code reader. A bar
code reader is an ASCII device, so you configure the serial port differently
than in the previous examples. Configure the serial port for user mode,
rather than a DF1 mode.
ahw0921.eps
Example 3: DriveLogix
Controller to a Bar Code
Reader
scanner
Communicating with Devices on a Serial Link
5-11
Connecting the ASCII Device to the Controller
To connect the ASCII device to the serial port of the controller:
1. For the serial port of the ASCII device, determine which pins send
signals and which pins receive signals.
2. Connect the sending pins to the corresponding receiving pins and attach
jumpers:
If the communications:
handshake
do not handshake
Then wire the connectors as follows:
ASCII Device
Controller
1 CD
1
2 RDX
2 RDX
3 TXD
3 TXD
4 DTR
4 DTR
COMMON
COMMON
6 DSR
6 DSR
7 RTS
7
8 CTS
8
9
9
ASCII Device
Controller
1 CD
1
2 RDX
2 RDX
3 TXD
3 TXD
4 DTR
4 DTR
COMMON
COMMON
6 DSR
6 DSR
7 RTS
7
8 CTS
8
9
9
3. Attach the cable shield to both connectors and tie the cable to both
connectors.
4. Connect the cable to the controller and the ASCII device.
The following table lists the default serial port configuration settings for the
ASCII protocol. You specify these settings on the User Protocol tab under
Controller Properties.
5-12
Communicating with Devices on a Serial Link
Configuring User Mode
This field:
Description:
Buffer size
Specify the maximum size (in bytes) of the data array you plan to send and receive. The default is 82 bytes.
Termination characters
Specify the characters you will use to designate the end of a line. The default characters are ‘$r’ and ‘$FF’.
Append characters
Specify the characters you will append to the end of a line. The default characters are ‘$r’ and ‘$l’.
XON/XOFF
Select whether or not to regulate the flow of incoming data. The default is disabled.
Echo mode
Select whether or not to echo data back to the device from which it was sent. The default is disabled.
Delete mode
Select Ignore, CTR, or Printer for the delete mode. The default is Ignore.
Programming ASCII instructions
The controller supports ASCII instructions to communicate with ASCII
devices. Your RSLogix 5000 programming software CDROM includes
programming examples using ASCII instructions.
For information about using these examples, see the Logix5000 Controllers
Reference Manual, publication 1756-RM001.
Chapter
6
Communicating with Devices on an EtherNet/IP
Link
De-energizing the Drive to
Connect or Disconnect a
Cable
!
ATTENTION: Severe injury or death can result from electrical
shock or burn. Verify that the voltage on the bus capacitors has
discharged before connecting to the communication ports.
Measure the DC bus voltage at the +DC & -DC terminals on the
Power Terminal Block. The voltage must be zero.
During the process of configuring EtherNet/IP communication you will
need to connect or disconnect a programming or network cable at the
controller. You should do this only if the drive is de-energized.
1. Turn off and lock out input power. Wait five minutes.
2. Verify that there is no voltage at the drive’s input power terminals.
3. Measure the DC bus voltage at the +DC & -DC terminals on the Power
Terminal Block. The voltage must be zero.
4. Connect or disconnect the programming or network cable.
5. Turn power back on and proceed with configuring EtherNet/IP
communication.
6-2
Communicating with Devices on an EtherNet/IP Link
Communicating Through
the Embedded EtherNet/IP
Option
For the DriveLogix controller to operate on an Ethernet network, you need:
• a workstation with an appropriate EtherNet/IP communication
daughtercard
• RSLinx software to configure the EtherNet/IP communication driver
• RSLogix 5000 programming software (Version 13 or later) to configure
the embedded EtherNet/IP option or NetLinx EtherNet/IP
communication daughtercard as part of the DriveLogix system
• an embedded EtherNet/IP option card installed on the DriveLogix
controller (refer to Installing the Embedded EtherNet/IP Option
Board on page B-7)
or
• a 1788-ENBT EtherNet/IP communication daughtercard installed on the
DriveLogix controller (refer to Installing the Communications
Daughtercard on page B-9)
DriveLogix controller
with 1788-ENBT
Communications
Daughtercard
ahw0938.eps
EtherNet/IP
!
DriveLogix controller with
Embedded EtherNet/IP
Option Card
or
EtherNet/IP
EtherNet/IP
Determining Network Settings
Before configuring the system you must determine several network settings.
In the Run dialog box of Windows, type “cmd”.
ahw0884.tif
2.
At the Command Prompt, type “ipconfig”, and
note the values for the network settings.
ahw0875.tif
1.
Communicating with Devices on an EtherNet/IP Link
6-3
Assigning Network Parameters with BOOTP/DHCP
The EtherNet/IP Option board ships with BOOTP enabled. You must assign
an IP address to the Ethernet port in order for the controller to communicate
over an EtherNet/IP network.
The BOOTP/DHCP utility is a stand alone program that is located in the:
• BOOTP-DHCP Server folder in the Rockwell Software program folder
on the Start menu (the utility is automatically installed when you install
RSLinx software)
• Tools directory on the RSLogix 5000 installation CD.
The computer running the BOOTP/DHCP utility and the DriveLogix5730
controller must be on the same EtherNet/IP network.
To use the BOOTP/DHCP utility:
Start the BOOTP/DHCP software.
From the Tools menu, select Network Settings.
Note: If you have not run the BOOTP/DHCP program before,
it will automatically launch the Network Settings window.
ahw0858.tif
ahw0861.tif
1.
2.
3.
Enter the required data.
Click OK.
In the Request History panel you see the hardware addresses
of devices issuing BOOTP requests. Double-click on the
hardware address of the device you want to configure.
ahw0859.tif
5. The New Entry window appears with the device’s Ethernet Address (MAC).
Enter the Ethernet address, IP address, subnet mask, and gateway.
Click OK.
Note: The selected controller will verify that the IP address that has
been assigned in this dialog does not belong to another device on
the network. If the IP address exists, a warning message will display.
The new entry then appears in
the Relation List.
ahw0876.tif
4.
Communicating with Devices on an EtherNet/IP Link
ahw0860.tif
6-4
Communicating with Devices on an EtherNet/IP Link
6.
6-5
To permanently assign this configuration to the device, highlight the device and click on the Disable BOOTP/DHCP button. When
power is recycled, the device uses the configuration you assigned and not issue a BOOTP request.
ahw0885.tif
Important: If you do not select the Disable BOOTP/DHCP button, on a power cycles and drive
resets, the controller clears the current IP configuration and will again begin sending
BOOTP requests.
Click
Disable BOOTP/
DHCP.
Highlight the device
Other methods to assign network parameters include:
If you are working in these conditions:
• a BOOTP server is not available
Use this method for assigning network
parameters:
See page:
RSLinx software
6-6
RSLogix 5000 software
6-7
• the EtherNet/IP module is connected to another
NetLinx network
• the RSLogix 5000 project is online with the
controller that communicates to or through the
EtherNet/IP module
If you use the Rockwell Software BOOTP or DHCP server in an up-linked
subnet where an enterprise DHCP server exists, a module may get an
address from the enterprise server before the Rockwell Automation utility
even sees the module. You might have to disconnect from the uplink to set
the address and have the module remember its static address before
reconnecting to the uplink.
6-6
Communicating with Devices on an EtherNet/IP Link
Using RSLinx Software to Set the IP Address Via the Controller Serial
Port
You need RSLinx software version 2.41 or higher.
1. Make sure the controller that uses the IP address is installed and running.
2. Make a serial connection to the controller via the CH0 serial connector.
You might also need to use RSLinx software to create a DF1 driver for the workstation. See Chapter 5 for more information.
3. Start RSLinx. Open the RSWho window. Navigate in RSWho to the Ethernet network.
ahw0874.tif
4. Right-click on the Ethernet port (not the controller) and select Module Configuration
5. Select the Port Configuration tab, choose Static Network Configuration type, and enter the IP address, network (subnet) mask, and
gateway address (if needed).
You must leave the Static radio button selected to permanently assign this configuration to the port. If you select Dynamic, the
controller clears its IP configuration and sends BOOTP requests on every power cycle and drive reset.
Note: The selected controller will
verify that the IP address that has
been assigned in this dialog does
not belong to another device on the
network. If the IP address exists, a
warning message will display.
ahw0878.tif
Click OK.
Communicating with Devices on an EtherNet/IP Link
Using RSLogix 5000 Software to Set the IP Address
1.
2.
Create a new offline project, with the drive and any other necessary components.
In the Controller Organizer, select the I/O Configuration folder. Right-click the selected folder and select New Module.
Important: You must create an offline project and download it to
the controller before going online. If the controller is
already programmed, skip these first three steps.
Select a DriveLogix5730 Ethernet
Port from the list of possible
communication devices.
Click OK.
ahw0905.tif
ahw0904.tif
ahw0903.tif
3.
4.
Enter a Name for the port and the desired address.
Click Finish.
Note: The selected controller will verify that the IP address that has been
assigned in this dialog does not belong to another device on the network. If the
IP address exists, a warning message will display.
6-7
6-8
Communicating with Devices on an EtherNet/IP Link
4.
To go online with the controller in RSLogix 5000 programming software, select Who Active from the Communications menu.
Then highlight the controller and click the Download button.
ahw0880.tif
ahw0879.tif
If the controller is already programmed click Go Online instead.
Communicating with Devices on an EtherNet/IP Link
ahw0881tif
In the Controller Organizer, right click on the icon for the port and select Properties.
6.
Select the Port Configuration tab and enter the proper data.
Uncheck the Enable Bootp checkbox.
Click Set, Apply and OK to make changes.
ahw0883.tif
5.
6-9
6-10
Communicating with Devices on an EtherNet/IP Link
Configuring the EtherNet/IP Communications Driver
Important: EtherNet/IP only works within the local subnet and with
EtherNet/IP devices (not Ethernet control products).
To configure the AB_ETH Ethernet communication driver perform the
following steps in RSLinx:
From the Communications menu, select Configure Drivers.
ahw0853.tif
2.
Select EtherNet/IP Driver from the list of
Available Driver Types.
Then Click Add New.
ahw0854.tif
3.
ahw0855.tif
1.
Select the default driver name (i.e. AB-ETHIP-1) or
type in your own name.
Then Click OK.
After you create the driver, configure it to correspond to the Ethernet port on the
Embedded EtherNet/IP option board.
Communicating with Devices on an EtherNet/IP Link
Select where the EtherNet/IP devices reside. The software locates valid IP addresses.
ahw0856.tif
4.
6-11
ahw0857.tif
Click OK.
5.
The driver is now available and you can select the EtherNet/IP port in RSLogix 5000.
Controller Connections
Over EtherNet/IP
A Logix system uses a connection to establish a communication link
between two devices. Connections can be:
•
•
•
controller to distributed I/O or remote communication modules
produced and consumed tags
messages
You indirectly determine the number of connections the controller uses by
configuring the controller to communicate with other devices in the system.
6-12
Communicating with Devices on an EtherNet/IP Link
Connections are allocations of resources that provide more reliable
communications between devices than unconnected messages.
All EtherNet/IP connections are unscheduled. An unscheduled connection
is a message transfer between controllers that is triggered by the requested
packet interval (RPI) or the program (such as a MSG instruction).
Unscheduled messaging lets you send and receive data when needed.
The DriveLogix5730 controller supports 32 CIP connections over an
EtherNet/IP network.
Configuring Distributed I/O
The DriveLogix5730 controller supports distributed I/O over a EtherNet/IP
link. Configuring I/O in a remote chassis is similar to configuring local I/O.
You create the remote communication module and distributed I/O modules
on the local Ethernet port.
To communicate with distributed I/O modules, you add a remote adapter
and I/O modules to the I/O Configuration folder of the controller.
ahw0886.tif
To Add Distributed I/O Build the I/O Configuration in this Order
1.
Add the remote adapter to the
embedded EtherNet/IP port of the
controller.
2.
Add the I/O modules to the remote
adapter.
Communicating with Devices on an EtherNet/IP Link
6-13
Accessing Distributed I/O
I/O information is presented as a structure of multiple fields, which depend
on the specific features of the I/O module. The name of the structure is
based on the location of the I/O module in the system. Each I/O tag is
automatically created when you configure the I/O module through the
programming software. Each tag name follows this format:
Location:SlotNumber:Type.MemberName.SubMemberName.Bit
where:
This address
variable:
Is:
Location
Identifies network location
LOCAL = local DIN rail or chassis
ADAPTER_NAME = identifies remote adapter or bridge
SlotNumber
Slot number of I/O module in its chassis
Type
Type of data
I = input
O = output
C = configuration
S = status
MemberName
Specific data from the I/O module; depends on the type of data the module
can store
For example, Data and Fault are possible fields of data for an I/O module.
Data is the common name for values the are sent to or received from I/O
points.
SubMemberName
Specific data related to a MemberName.
Bit (optional)
Specific point on the I/O module; depends on the size of the I/O module
(0-31 for a 32-point module)
Example
6-14
Communicating with Devices on an EtherNet/IP Link
Device:
Example Tag Names (automatically created by the
software):
remote adapter
“FLEX_io_adapter”
FLEX_io_adapter:I
FLEX_io_adapter:I.SlotStatusBits
FLEX_io_adapter:I.Data
FLEX_io_adapter:O
FLEX_io_adapter:O.Data
remote “input_module” in slot 0
rack-optimized connection
FLEX_io_adapter:0:C
FLEX_io_adapter:0:C.Config
FLEX_io_adapter:0:C.DelayTime_0
FLEX_io_adapter:0:C.DelayTime_1
FLEX_io_adapter:0:C.DelayTime_2
FLEX_io_adapter:0:C.DelayTime_3
FLEX_io_adapter:0:C.DelayTime_4
FLEX_io_adapter:0:C.DelayTime_5
FLEX_io_adapter:0:I
remote “output_module” in slot 1
rack-optimized connection
FLEX_io_adapter:1:C
FLEX_io_adapter:1:C.SSData
FLEX_io_adapter:1:O
FLEX_io_adapter:1:O.Data
remote “combo_analog” in slot 2
direct connection
FLEX_io_adapter:2:C
FLEX_io_adapter:2:C.InputFIlter
FLEX_io_adapter:2:C.InputConfiguration
FLEX_io_adapter:2:C.OutputConfiguration
FLEX_io_adapter:2:C.RTSInterval
FLEX_io_adapter:2:C.SSCh0OuputData
FLEX_io_adapter:2:C.SSCH1OutputData
FLEX_io_adapter:2:I
Communicating with Devices on an EtherNet/IP Link
6-15
Adding a Remote Controller If you want to add the controller as a remote consumed controller to the I/O
configuration, you first add the EtherNet/IP port and then the controller.
ahw0888.tif
To Add a Remote Controller Build the I/O Configuration in this Order
1.
Add the remote EtherNet/IP port or
bridge to the local EtherNet/IP port.
2.
Add the remote controller to the remote
EtherNet/IP port.
Producing and Consuming
Data
The DriveLogix5730 controller supports the ability to produce (broadcast)
and consume (receive) system-shared tags over an EtherNet/IP link.
Produced and consumed data is accessible by multiple controllers over an
Ethernet network. The controller sends or receives data at a predetermined
RPI rate. This is the recommended method of communication between
Logix controllers.
Produced and consumed tags must be controller-scoped tags of DINT or
REAL data type, or in an array or structure.
Tag type:
Description:
Specify:
produced
These are tags that the controller produced for
other controllers to consume.
Enabled for producing
How many consumers allowed
consumed
These are tags whose values are produced by
another controller.
Controller name that owns the tag that the local controller wants
to consume
Tag name or instance that the controller wants to consume
Data type of the tag to consume
Update interval of how often the local controller consumes the tag
6-16
Communicating with Devices on an EtherNet/IP Link
The producer and consumer must be configured correctly for the specified
data to be shared. A produced tag in the producer must be specified exactly
the same as a consumed tag in the consumer.
If any produced/consumed tag between a producer and consumer is not
specified correctly, none of the produced/consumed tags for that producer
and consumer will be transferred. For example, if a DriveLogix5730
controller is consuming three tags that another controller consumes but the
first tag is specified incorrectly, none of the tags are transferred to the
consuming DriveLogix5730 controller.
However, one consumer failing to access shared data does not affect other
consumers accessing the same data. For example, if the producing
DriveLogix5730 controller from the previous example also produced tags
for other consuming controllers but did so correctly, those tags are still
transferred to the additional consuming controllers.
Maximum Number of Produced and Consumed Tags
The maximum number of produced/consumed tags that you can configure
depends on the connection limits of the Ethernet port on the controller. You
can have a maximum of 32 connections through the Ethernet port.
Each produced tag uses one connection for the tag and the first configured
consumer of the tag. Each consumer thereafter uses an additional
connection.
If you have a lot of data to produce or consume, organize that data into an
array. An array is treated as one tag, so it uses only one connection. An
array can be as large as 488 bytes, which is also the limit of a produced or
consumed tag.
Size Limit of a Produced or Consumed Tag
A produced or consumed tag can be as large as 488 bytes, but it must also fit
within the bandwidth of the EtherNet/IP network.
Communicating with Devices on an EtherNet/IP Link
6-17
Producing a tag
Produced data must be of DINT or REAL data type or a structure. You can
use a user-defined structure to group BOOL, SINT, and INT data to be
produced. To create a produced tag:
1. You must be programming offline.
2. In the controller organizer, double-click the Controller Tags folder and
then click the Edit Tags tab.
3. Select the tag that you want to produce, or enter a new tag, and display
the Tag Properties dialog box.
4. Make sure the tag is controller scope.
5. Select the “Produce this tag” check box. Specify how many controllers
can consume the tag.
You can produce a base, alias, or consumed tag.
The consumed tag in a receiving controller must have the same data type as
the produced tag in the originating controller. The controller performs type
checking to ensure proper data is being received.
Produced tags require connections. The number of connections depends on
how many controllers are consuming the tags. The controller requires one
connection for the produced tag and the first consumer. Then, the controller
requires an additional connection for each subsequent consumer.
6-18
Communicating with Devices on an EtherNet/IP Link
Consuming a Tag
A consumed tag represents data that is produced (broadcast) by one
controller and received and stored by the consuming controller. To create a
consumed tag:
1. You must be programming offline.
2. In the controller organizer, double-click the Controller Tags folder and
then click the Edit Tags tab.
3. Select the tag that you want to consume, or enter a new tag, and display
the Tag Properties dialog box.
4. Specify:
In this field:
Type or select:
Tag Type
Select Consumed.
Controller
Select the name of the other controller. You must have already created the controller in the controller
organizer for the controller name to be available.
Remote Tag Name
Remote Instance
Type a name for the tag in the other controller you want to consume.
Important: The name must match the name in the remote controller exactly, or the
connection faults.
RPI
(requested packet interval)
Type the amount of time in msec between updates of the data from the remote controller. The local
controller will receive data at least this fast.
Virtual-backplane controllers, such as DriveLogix5730, CompactLogix and FlexLogix controllers,
only produce data at RPIs in powers of two milliseconds (such as 2, 4, 8, 16, 32, 64, etc.), or when
triggered by an IOT instruction.
Display Style
If you are creating a consumed tag that refers to a tag whose data type is BOOL, SINT, INT, DINT, or
REAL, you can select a display style. This display style defines how the tag value will be displayed in
the data monitor and ladder editor. The display style does not have to match the display style of the
tag in the remote controller.
All consumed tags are automatically controller-scope.
The produced tag in the originating DriveLogix5730 controller must have
the same data type as the consumed tag in the consuming controller. The
DriveLogix5730 controller performs type checking to make sure proper
data is being received.
Important: If a consumed-tag connection fails, none of the tags are
transferred from the producing controller to the consuming
controller.
Communicating with Devices on an EtherNet/IP Link
6-19
Sending Messages
The DriveLogix5730 controller can send MSG instructions to other
controllers and devices over an EtherNet/IP link. Each MSG instruction
requires you to specify a target and an address within the target.
Important: Revision 15.xx of DriveLogix firmware adds more stringent
range checks when reading to or writing from tags. Message
packets are limited to 240 bytes. This could cause some MSG
instructions that worked in previous firmware revisions to not
work in revision 15.xx firmware. For example, use a CIP
Generic MSG instruction to perform a Get Attribute Single
service. The attribute is 4 bytes in length. Assume the
destination tag is an INT data type (2 bytes in length). In
revision 13.xx firmware, the MSG instruction places the first 2
bytes of the attribute in the destination tag. In revision 15.xx
firmware, the MSG instruction errors because the destination
tag is not large enough. To correct this error, change the
destination tag to a DINT data type.
MSG instructions are unscheduled. The type of MSG determines whether or
not it requires a connection. If the MSG instruction requires a connection, it
opens the needed connection when it is executed. You can configure the
MSG instruction to keep the connection open (cache) or to close it after
sending the message.
This type of MSG:
Using this communication
method:
Uses a
connection:
Which you
can cache:
CIP data table read or write
CIP
X
X
PLC-2, PLC-3, PLC-5, or SLC
(all types)
CIP
X
X
CIP with Source ID
X
X
DH+
X
CIP generic
CIP
X(1)
X
block-transfer read or write
na
X
X
(1)
You can connect CIP generic messages, but for most applications, we recommend you leave CIP generic messages unconnected.
The update time of local I/O modules may increase when the controller is
bridging messages.
Important: Bridging over the DriveLogix5730 controller should be
targeted toward applications that are not real time dependent,
such as RSLogix 5000 program downloads and ControlFlash
updates.
6-20
Communicating with Devices on an EtherNet/IP Link
Communicating with Another Logix-based Controller
All Logix-based controllers can use MSG instructions to communicate with
each other. The following examples show how to use tags in MSG
instructions between Logix-based controllers.
Type of MSG Instruction:
Example Source and Destination:
Logix-based controller writes to Logix-based
controller
(CIP Data Table Write)
source tag
array_1
destination tag
array_2
Logix-based controller reads from
Logix-based controller
(CIP Data Table Read)
source tag
array_1
destination tag
array_2
The source and destination tags:
• must be controller-scoped tags.
• can be of any data type, except for AXIS, MESSAGE, or
MOTION_GROUP.
Communicating with other controllers over EtherNet/IP
The DriveLogix5730 controller also uses MSG instructions to communicate
with PLC and SLC controllers. The MSG instructions differ depending on
which controller initiates the instruction.
For MSG instructions originating from a DriveLogix5730 controller to a
PLC or SLC controller:
Type of MSG
Instruction:
DriveLogix5730
writes to PLC-5 or
SLC
Supported Source File Types:
Supported Destination File Types:
In the DriveLogix5730 controller, specify the source data type
based on the destination device:
Specify the destination file type based on the
destination device:
PLC-5: SINT, INT, DINT, or REAL
SLC: INT, REAL
PLC-5 typed write: S, B, N, or F
PLC-5 word-range write: S, B, N, F, I, O, A, or D
SLC: B, N or F
Example source element: array_1
Example destination tag: N7:10
Communicating with Devices on an EtherNet/IP Link
Type of MSG
Instruction:
Supported Source File Types:
Supported Destination File Types:
DriveLogix5730
writes to PLC-2
In the DriveLogix5730 controller, select one of these data
types:
Use the PLC-2 compatibility file.
6-21
SINT, INT, DINT, or REAL
Example destination tag: 010
Example source element: array_1
DriveLogix5730
reads from PLC-5
or SLC
DriveLogix5730
reads from PLC-2
Specify the destination file type based on the destination
device:
In the DriveLogix5730 controller, specify the destination data
type based on the destination device:
PLC-5 typed read: S, B, N, or F
PLC-5 word-range read: S, B, N, F, I, O, A, or D
SLC: B, N or F
PLC-5: SINT, INT, DINT, or REAL
SLC: INT, REAL
Example source element: N7:10
Example destination tag: array_1
Use the PLC-2 compatibility file.
In the DriveLogix5730 controller, select one of these data
types:
SINT, INT, DINT, or REAL
Example source element: 010
Example destination tag: array_1
The DriveLogix5730 controller can send typed or word-range commands to
PLC-5 controllers. These commands read and write data differently. The
following diagrams show how the typed and word-range commands differ.
Word-range read command
Typed read command
16-bit words in
PLC-5 controller
32-bit words in
DriveLogix5730 controller
16-bit words in
PLC-5 controller
32-bit words in
DriveLogix5730 controller
1
1
1
2
1
2
2
2
4
3
3
3
3
4
4
4
The typed commands maintain data structure and value.
The word-range commands fill the destination tag contiguously. Data
structure and value change depending on the destination data type.
The DriveLogix5730 controller can process messages initiated from PLC or
SLC controllers. These messages use data table addresses. In order for these
controllers to access tags within the DriveLogix5730 controller, you map
tags to data table addresses.
6-22
Communicating with Devices on an EtherNet/IP Link
Mapping Addresses
The programming software includes a PLC/SLC mapping tool which allows
you to make an existing controller array tag in the local controller available
to PLC-2, PLC-3, PLC-5, or SLC controllers.
To map addresses:
ahw0889.tif
1. From the Logic menu, select Map PLC/SLC Messages.
2. Specify this information:
For:
In this field:
Specify:
For example:
PLC-3, PLC-5, and
SLC controllers
File Number
Type the file number of the data table in the PLC/SLC controller. 10
Tag Name
Type the array tag name the local controller uses to refer to the
PLC/SLC data table address. The tag must be an integer array
(SINT, INT, or DINT) that is large enough for the message data.
array_1
PLC-2 controllers
Tag Name
Type the tag name to be the PLC-2 compatibility file.
200
TIP: You can map as many tags as you want to a PLC-3, PLC-5, or SLC
controller. You can map only one tag to a PLC-2 controller.
The following table shows example source and destination tags and
elements for different controller combinations.
Type of MSG Instruction:
Example Source and Destination:
PLC-5 writes to DriveLogix5730
source element
N7:10
SLC writes to DriveLogix5730
SLC 5/05
SLC 5/04 OS402 and above
SLC 5/03 OS303 and above
destination tag
“array_1”
The PLC-5, PLC-3, and SLC controllers support logical ASCII addressing so you do not have to
map a compatibility file for MSG instructions initiated by a PLC-5, PLC-3, or SLC controller. Place
the DriveLogix5730 tag name in double quotes (“).
You could optionally map a compatibility file. For example, if you enter 10 for the compatibility file,
you enter N10:0 for the destination tag.
PLC-2 writes to DriveLogix5730
source element
010
destination tag
200
The destination tag is the three-digit PLC-2 address you specified for PLC-2 mapping.
Communicating with Devices on an EtherNet/IP Link
Type of MSG Instruction:
Example Source and Destination:
PLC-5 reads from DriveLogix5730
source tag
“array_1”
SLC reads from DriveLogix5730
SLC 5/05
SLC 5/04 OS402 and above
SLC 5/03 OS303 and above
destination element
N7:10
6-23
The PLC-5, PLC-3, and SLC controllers support logical ASCII addressing so you do not have to
map a compatibility file for MSG instructions initiated by a PLC-5, PLC-3, or SLC controller. Place
the DriveLogix5730 tag name in double quotes (“).
You could optionally map a compatibility file. For example, if you enter 10 for the compatibility file,
you enter N10:0 for the source tag.
PLC-2 reads from DriveLogix5730
source tag
200
destination element
010
The source tag is the three-digit PLC-2 address you specified for PLC-2 mapping.
When the DriveLogix5730 controller initiates messages to PLC or SLC
controllers, you do not have to map compatibility files. You enter the data
table address of the target device just as you would a tag name.
SLC 5/05 controllers, SLC 5/04 controllers (OS402 and above), and SLC 5/
03 controllers (OS303 and above) support logical ASCII addressing and
support PLC/SLC mapping (see the examples above). For all other SLC or
MicroLogix1000 controllers, you must map a PLC-2 compatibility file (see
the PLC-2 examples above).
6-24
Communicating with Devices on an EtherNet/IP Link
Using a MSG Instruction to
Send an Email
The controller is an email client that uses a mail relay server to send email.
The DriveLogix5730 controller can execute a generic CIP message that
sends an email message to an SMTP mail relay server using the standard
SMTP protocol.
Some mail relay servers require a domain name be provided during the
initial handshake of the SMTP session. For these mail relay servers, make
sure you specify a domain name when you configure the network settings.
See 6-3 for information on configuring the network settings of the controller
and specifying a domain name.
Important: Be careful to write the ladder logic to ensure the MSG
instructions are not continuously triggered to send email
messages.
Creating String Type for Email String Data Type
The tags for the email text and transmission status can contain as many as
474 characters. For these tags, you must create a user-defined STRING data
type that is larger than the default. For example, create a STRING data type
named EMAILSTRING.
While offline, in the Controller Organizer, right click on the folder for Strings and select New String Type.
ahw0890.tif
2.
Enter the Name (e.g. EMAILSTRING) and the maximum number of
characters (e.g. 520).
Click Apply, then OK.
ahw0891.tif
1.
Communicating with Devices on an EtherNet/IP Link
6-25
Creating String Tags
On the Edit tab of the Controller Tags window, create three tags:
ahw0892.tif
• one to identify the mail server (use STRING data type for this tag)
• one for the email text (use EMAILSTRING data type for this tag)
• one for the email transmission status (use EMAILSTRING data type for
this tag)
Entering String Data
On the Monitor Tags tab of the Controller Tags window, click the button in
the Value column to launch the String Browser for each tag.
On the Monitor Tags tab of the Controller Tags window, click the button in the Value column to launch the String Browser.
ahw0893.tif
1.
Click on this
button
Communicating with Devices on an EtherNet/IP Link
To include “To:”, “From:”, and “Subject:” fields in the email, use
<CR><LF> symbols to separate each of these fields. The “To:” and
“From”” fields are required; the “Subject:” field is optional. Use a second
set of <CR><LF> symbols after the last one of these fields you enter. For
example:
To: email address of recipient $r$l
From: email address of sender$r$l
Subject: subject of message $r$l$r$l
body of email message
Use the “From” address to specify where the mail relay server can send an
undeliverable email message.
The maximum length of an email message is 474 characters. An additional
4-byte string-length value is added to the tag. As a result, the maximum
source length is 478 characters.
Entering Ladder Logic
You need two MSG instructions. One MSG instruction configures the mail
server. This only needs to be executed once. The second MSG instruction
triggers the email transmission. This can be executed as often as needed.
Important: Be careful to write the ladder logic to ensure the MSG
instructions are not continuously triggered to send email
messages.
This is an example of the basic MSG logic. You can build more complex logic that automatically
manages the Source Lengths within the MSG blocks. Refer to Using Ladder Logic to Dynamically
Configure Messages on page 6-30.
ahw0897.tif
6-26
Communicating with Devices on an EtherNet/IP Link
6-27
Configuring the MSG Instruction that Identifies the Mail Relay Server
On the Configuration tab of the Message Configuration, fill out the following fields:
ahw0898.tif
1.
In this field:
Enter:
Service Type
Set Attribute Single
Instance
1
Class
32f
Attribute
5
Source Element
the STRING tag that contains the IP address or host name of the mail relay server
In this example, enter EmailConfig
Source Length
the number of characters in the IP address or host name of the mail server plus 4
In this example, enter 17 (13 characters in the IP address 10.88.128.111 + 4)
On the Communication tab of the Message Configuration, set the Path (e.g. browse for the
Embedded EtherNet Port).
Click Apply.
Click OK.
ahw0899.tif
2.
Communicating with Devices on an EtherNet/IP Link
Configuring the MSG Instruction that Transmits the Email
1.
On the Configuration tab of the Message Configuration, fill out the following fields:
ahw0900.tif
6-28
In this field:
Enter:
Service Type
Custom
Service Code
4b
Instance
1
Class
32f
Attribute
0
Source Element
the tag that contains the email text
This tag is of the STRING data type you created to contain the email text. In this
example, EmailText.
Source Length
the number of characters in the email text plus 4
In this example, enter 114 (110 characters in the email + 4)
Destination
a tag to contain the status of the email transmission
This tag is also of the STRING data type you created to contain the email text. In
this example, EmailStatus.
Communicating with Devices on an EtherNet/IP Link
On the Communication tab of the Message Configuration, set the Path in the same manner as
in the MSG that identifies the mail relay server.
Click Apply.
Click OK.
ahw0901.tif
2.
6-29
Understanding Email Status Codes
Examine the destination element of the email MSG to see whether the email
was successfully delivered to the mail relay server. This indicates that the
mail relay server placed the email message in a queue for delivery. It does
not mean the intended recipient successfully received the email message.
Possible codes that could be in this destination element are:
Error Code (hex):
Extended-Error Code
(hex):
Description:
0x00
none
Delivery successful to the mail relay server.
0x02
none
Resource unavailable. The email object was unable to obtain memory resources to initiate the
SMTP session.
0x08
none
Unsupported Service Request. Make sure the service code is 0x4B and the Class is 0x32F.
0x11
none
Reply data too large. The Destination string must reserve space for the SMTP server reply
message. The maximum reply can be 470 bytes.
0x13
none
Configuration data size too short. The Source Length is less than the Source Element string
size plus the 4-byte length. The Source Length must equal the Source Element string size + 4.
0x15
none
Configuration data size too large. The Source Length is greater than the Source Element
string size plus the 4-byte length. The Source Length must equal the Source Element string
size + 4.
0x19
none
Data write failure. An error occurred when attempting to write the SMTP server address
(attribute 4) to non-volatile memory.
6-30
Communicating with Devices on an EtherNet/IP Link
Error Code (hex):
Extended-Error Code
(hex):
0xFF
0x0100
Error returned by email server; check the Destination string for reason. The email message
was not queued for delivery.
0x0101
SMTP mail server not configured. Attribute 5 was not set with a SMTP server address.
0x0102
“To:” address not specified. Attribute 1 was not set with a “To:” address AND there is not a
“To:” field header in the email body.
0x0103
“From:” address not specified. Attribute 2 was not set with a “From:” address AND there is not
a “From:” field header in the email body.
0x0104
Unable to connect to SMTP mail server set in Attribute 5. If the mail server address is a
hostname, make sure that the device supports DNS, and that a Name Server is configured. If
the hostname is not fully qualified, i.e., “mailhost” and not “mailhost.xx.yy.com” then the
domain must be configured as “xx.yy.com”. Try “ping <mail server address>” to insure the mail
server is reachable from your network. Also try “telnet <mail server address> 25” which
attempts to initiate a SMTP session with the mail server via telnet over port 25. (If you connect
then enter “QUIT”).
0x0105
Communication error with SMTP mail server. An error occurred after the initial connection with
the SMTP mail server.
See the ASCII text following the error code for more details as to the type of error.
0x0106
SMTP mail server host name DNS query did not complete. A previous send service request
with a host name as the SMTP mail server address did not yet complete. Note that a timeout
for a DNS lookup with an invalid host name can take up to 3 minutes. Long timeouts can also
occur if a domain name or name server is not configured correctly.
Description:
Using Ladder Logic to Dynamically Configure Messages
ahw0902.tif
Use ADD instructions to calculate the MSG Source Length.
Communicating with Devices on an EtherNet/IP Link
In the following example, one DriveLogix5730 controller controls
distributed I/O through a 1794-AENT module.
ahw0906.eps
Example 1: DriveLogix5730
Controller and
Distributed I/O
6-31
DriveLogix5730 controller
(DriveLogix1)
EtherNet/IP
1794-AENT with distributed I/O
(Remote1)
Controlling Distributed I/O
This example has DriveLogix1 controlling the I/O connected to the remote
1794-AENT module. The data the DriveLogix5730 controller receives from
the distributed I/O modules depends on how you configure the I/O modules.
You can configure each module as a direct connection or as rack optimized.
One chassis can have a combination of some modules configured as a direct
connection and others as rack optimized.
All analog modules require direct connections. Diagnostic modules support
rack-optimized connections, but require direct connections to take full
advantage of their diagnostic features.
Total Connections Required by DriveLogix1
The following table calculates the connections used in this example.
Connection:
Amount:
DriveLogix1 to 4 distributed I/O modules (through 1794-AENT)
all I/O modules configured as direct connection
no connection to the 1794-AENT
4
total connections used:
4
If you configured the distributed I/O modules as rack-optimized, you would
only need a rack-optimized connection to the 1794-AENT, reducing the
above example by 3 connections.
6-32
Communicating with Devices on an EtherNet/IP Link
Example 2: Controller to
Controller
In the following example, one EtherNet/IP DriveLogix5730 controller
communicates with another EtherNet/IP DriveLogix5730 controller over
EtherNet/IP. Each controller has its own local I/O.
ahw0907.eps
EtherNet/IP
DriveLogix1
DriveLogix2
workstation
Producing and Consuming Tags
Produced data must be of DINT or REAL data type or an array or structure.
You can use a user-defined structure to group BOOL, SINT, and INT data to
be produced. You can produce a base, alias, or consumed tag.
The consumed tag must have the same data type as the produced tag in the
originating controller. The controller performs type checking to ensure
proper data is being received.
ahw0907.eps
EtherNet/IP
DriveLogix1
tagA
DINT
tagB
Real
DriveLogix2 (controllerb)
tagA
DINT
tagB
Real
workstation
Communicating with Devices on an EtherNet/IP Link
6-33
ahw0912.eps
ahw0909.eps
ahw0910.eps
ahw0908.eps
ahw0911.eps
This example shows DriveLogix1 producing tagA and consuming tagB:
Communicating with Devices on an EtherNet/IP Link
Each produced tags requires one connection for the producing controller
and an additional connection for each consuming controller. Each
consumed tag requires one connection.
Sending a MSG instruction
To send a MSG from DriveLogix1 to DriveLogix2:
1. For DriveLogix1, create a controller-scoped tag and select the
MESSAGE data type.
2. Enter a MSG instruction.
In this example logic, a message is sent when a specific condition is met.
When count_send is set, the ladder logic sends the count_msg MSG.
ahw0913.eps
6-34
3. Configure the MSG instruction. On the Configuration tab:
For this item:
Specify:
Message Type
CIP Data Table Read or
CIP Data Table Write
Source Tag
Tag containing the data to be transferred
Number of Elements
Number of array elements to transfer
Destination Tag
Tag to which the data will be transferred
4. On the Communication tab, specify the communication path.
Use the Browse button to select the device that will receive the MSG
instruction. The communication path in this example is:
For this item:
Specify:
Communication Path
1,1,2,xxx.xxx.xxx.xxx,1,0
where:
1 is the virtual backplane of DriveLogix1
1 is the slot of the Ethernet port in the controller
(note, the 1,1 displays as LocalENB)
2 is the EtherNet/IP network
100.100.115.11 is the IP address of DriveLogix2
1 is the virtual backplane of DriveLogix2
0 is the controller slot of DriveLogix2
Communicating with Devices on an EtherNet/IP Link
6-35
Total Connections Required by DriveLogix1
The following table calculates the connections used in this example.
Connection:
Amount:
connected, cached MSG from DriveLogix1 to DriveLogix2
1
produced tagA
produced from DriveLogix1 to DriveLogix2
other consumer (2 are configured)
1
1
consumed tagB
1
total connections used: 4
Receiving a MSG Instruction
When other devices send messages to the DriveLogix5730 controller, the
path for the message must identify the controller. Configure a CIP-type
message in the originating device. Specify the path the DriveLogix5730
controller as:
xxx.xxx.xxx.xxx,1,1
IP Address
virtual backplane
slot 1
6-36
Notes:
Communicating with Devices on an EtherNet/IP Link
Chapter
7
Communicating with Devices on a ControlNet
Link
De-energizing the Drive to
Connect or Disconnect a
Cable
!
ATTENTION: Severe injury or death can result from electrical
shock or burn. Verify that the voltage on the bus capacitors has
discharged before connecting to the communication ports.
Measure the DC bus voltage at the +DC & -DC terminals on the
Power Terminal Block. The voltage must be zero.
During the process of configuring ControlNet communication you will need
to connect or disconnect a programming or network cable at the controller.
You should do this only if the drive is de-energized.
1. Turn off and lock out input power. Wait five minutes.
2. Verify that there is no voltage at the drive’s input power terminals.
3. Measure the DC bus voltage at the +DC & -DC terminals on the Power
Terminal Block. The voltage must be zero.
4. Connect or disconnect the programming or network cable.
5. Turn power back on and proceed with configuring ControlNet
communication.
Configuring Your System for For the DriveLogix5730 controller to operate on a ControlNet network, you
need:
a ControlNet Link
• a workstation with an appropriate ControlNet communication
daughtercard
• a 1788-CNx communication daughtercard installed in the DriveLogix
communication slot
• RSLinx software to configure the ControlNet communication driver
• RSLogix 5000 programming software to configure the 1788-CNx
communication daughtercard as part of the DriveLogix system
• RSNetWorx software to schedule the DriveLogix system on the network
Configuring the Hardware
Before you can connect the DriveLogix system to the ControlNet network,
you must configure the 1788-CNx communication daughtercard and make
7-2
Communicating with Devices on a ControlNet Link
sure it’s properly installed in the DriveLogix controller. Refer to Installing
the Communications Daughtercard on page B-9.
You’ll need to configure the communication daughtercard slot number to 1
in the RSLogix 5000 programming software. The DriveLogix controller
uses slot 0 for the Communication Format with the local drive.
For more information about configuring a 1788-CNx communication
daughtercard, see:
For this card:
See this document:
1788-CNC, -CNCR
1788-IN002
1788-CNF, -CNFR
1788-IN005
Configuring the Communication Driver
Use RSLinx software to configure the ControlNet communication driver.
Select the appropriate communication driver for the communication
daughtercard in your workstation.
In RSLinx software, select Configure Driver. Select the appropriate driver.
ahw0434.tif
ahw0433.tif
1.
The installation instructions for the communications daughtercard should identify
which communication driver to install.
2.
Specify the appropriate settings. For example.
If you are using this device: Specify this information:
1784-KTCx card
memory address, which must match the switch setting on the card
I/O base address, which must match the switch setting on the card
ControlNet node address
1784-PCC card
ControlNet node address (MAC ID)
1784-PCIC card
ControlNet node address (MAC ID)
Communicating with Devices on a ControlNet Link
7-3
Configuring Your Daughtercard as Part of the System
Use RSLogix 5000 programming software to map the 1788-CNx
communication daughtercard as part of the DriveLogix5730 system. In the
Controller Organizer, add the communication daughtercard to the I/O
Configuration folder.
1.
In the Controller Organizer, select the I/O Configuration folder. Right-click the selected folder and select New Module.
Select the proper ControlNet
daughtercard from the list of
possible communication devices.
Click OK.
ahw0922.tif
ahw0903.tif
2.
ahw0923.tif
Do not change the slot number.
This must be slot 4.
3.
Enter a Name for the daughtercard and the desired.
Click Finish.
7-4
Communicating with Devices on a ControlNet Link
Configuring Distributed I/O
The DriveLogix5730 controller supports distributed I/O over a ControlNet
link. Configuring I/O in a remote chassis is similar to configuring local I/O.
You create the remote communication module and distributed I/O modules
on the local ControlNet daughtercard.
To communicate with distributed I/O modules, you add a remote adapter
and I/O modules to the I/O Configuration folder of the controller.
ahw0924.tif
To Add Distributed I/O Build the I/O Configuration in this Order
1.
Add the remote adapter to the
ControlNet daughtercard of the
controller.
2.
Add the I/O modules to the remote
adapter.
Communicating with Devices on a ControlNet Link
7-5
Accessing Distributed I/O
I/O information is presented as a structure of multiple fields, which depend
on the specific features of the I/O module. The name of the structure is
based on the location of the I/O module in the system. Each I/O tag is
automatically created when you configure the I/O module through the
programming software. Each tag name follows this format:
Location:SlotNumber:Type.MemberName.SubMemberName.Bit
where:
This address
variable:
Is:
Location
Identifies network location
LOCAL = local DIN rail or chassis
ADAPTER_NAME = identifies remote adapter or bridge
SlotNumber
Slot number of I/O module in its chassis
Type
Type of data
I = input
O = output
C = configuration
S = status
MemberName
Specific data from the I/O module; depends on the type of data the module
can store
For example, Data and Fault are possible fields of data for an I/O module.
Data is the common name for values the are sent to or received from I/O
points.
SubMemberName
Specific data related to a MemberName.
Bit (optional)
Specific point on the I/O module; depends on the size of the I/O module
(0-31 for a 32-point module)
ahw0925.tif
Example
7-6
Communicating with Devices on a ControlNet Link
Device:
Example Tag Names (automatically created by the
software):
remote adapter
“FLEX_io_adapter”
FLEX_io_adapter:I
FLEX_io_adapter:I.SlotStatusBits
FLEX_io_adapter:I.Data
FLEX_io_adapter:O
FLEX_io_adapter:O.Data
remote “input_module” in slot 0
rack-optimized connection
FLEX_io_adapter:0:C
FLEX_io_adapter:0:C.Config
FLEX_io_adapter:0:C.DelayTime_0
FLEX_io_adapter:0:C.DelayTime_1
FLEX_io_adapter:0:C.DelayTime_2
FLEX_io_adapter:0:C.DelayTime_3
FLEX_io_adapter:0:C.DelayTime_4
FLEX_io_adapter:0:C.DelayTime_5
FLEX_io_adapter:0:I
remote “output_module” in slot 1
rack-optimized connection
FLEX_io_adapter:1:C
FLEX_io_adapter:1:C.SSData
FLEX_io_adapter:1:O
FLEX_io_adapter:1:O.Data
remote “combo_analog” in slot 2
direct connection
FLEX_io_adapter:2:C
FLEX_io_adapter:2:C.InputFIlter
FLEX_io_adapter:2:C.InputConfiguration
FLEX_io_adapter:2:C.OutputConfiguration
FLEX_io_adapter:2:C.RTSInterval
FLEX_io_adapter:2:C.SSCh0OuputData
FLEX_io_adapter:2:C.SSCH1OutputData
FLEX_io_adapter:2:I
Communicating with Devices on a ControlNet Link
Scheduling the ControlNet
Network
In the Network menu, select Online.
ahw0929.tif
1.
Use RSNetWorx software to schedule the ControlNet network. The
controller project must already be downloaded from RSLogix 5000
programming software to the controller and the controller must be in
Program or Remote Program mode.
Survey the network.
Enable Edits
ahw0926.tif
2.
In the Network menu, select Properties.
ahw0930.tif
3.
7-7
In the Network menu, select Properties.
ahw0930.tif
4.
5.
Edit the parameters as desired.
Click Apply.
Click OK.
In the File menu, select Save.
ahw0931.tif
3.
Communicating with Devices on a ControlNet Link
ahw0927.tif
7-8
Communicating with Devices on a ControlNet Link
Enter a name and path for the network configuration.
ahw0928.tif
ahw0932.tif
6.
7-9
7.
Click OK to optimize and reschedule the connections.
Sending Messages
The DriveLogix5730 controller can send MSG instructions to other
controllers over a ControlNet link. Each MSG instruction requires you to
specify a target and an address within the target. The number of messages
that a device can support depends on the type of message and the type of
device:
Support this many
unconnected messages:
Support this many
connected messages:
1756-CNB or 1756-CNBR module
(for a Logix5550 controller)
20
64
1788-CNx daughtercard
(for a DriveLogix controller)
5
32
with a maximum of 9 scheduled
ControlNet PLC-5 controller
32
128
This device:
Important: Revision 15.xx of DriveLogix firmware adds more stringent
range checks when reading to or writing from tags. Message
packets are limited to 240 bytes. This could cause some MSG
instructions that worked in previous firmware revisions to not
work in revision 15.xx firmware. For example, use a CIP
Generic MSG instruction to perform a Get Attribute Single
service. The attribute is 4 bytes in length. Assume the
destination tag is an INT data type (2 bytes in length). In
revision 13.xx firmware, the MSG instruction places the first 2
bytes of the attribute in the destination tag. In revision 15.xx
7-10
Communicating with Devices on a ControlNet Link
firmware, the MSG instruction errors because the destination
tag is not large enough. To correct this error, change the
destination tag to a DINT data type.
MSG instructions are unscheduled. The type of MSG determines whether or
not it requires a connection. If the MSG instruction requires a connection, it
opens the needed connection when it is executed. You can configure the
MSG instruction to keep the connection open (cache) or to close it after
sending the message.
This type of message:
And this communication method:
CIP data table read or write
PLC2, PLC3, PLC5, or SLC (all types)
Uses a connection:
X
CIP
CIP with Source ID
CIP generic
DH+
X
CIP
Optional(1)
block-transfer read or write
(1)
X
You can connect CIP generic messages, but for most applications, we recommend you leave CIP generic messages unconnected.
Connected messages are unscheduled connections on ControlNet.
If a MSG instruction uses a connection, you have the option to leave the
connection open (cache) or close the connection when the message is done
transmitting.
If you:
Then:
Cache the connection
The connection stays open after the MSG instruction is done. This
optimizes execution time. Opening a connection each time the
message executes increases execution time.
Do not cache the
connection
The connection closes after the MSG instruction is done. This frees up
that connection for other uses.
The controller has the following limits on the number of connections that
you can cache:
If you have this software
and firmware revision:
Then you can cache:
12.x or later
up to 32 connections
Communicating with Devices on a ControlNet Link
7-11
Communicating with Another Logix-Based Controller
All Logix-based controllers can use MSG instructions to communicate with
each other. The following examples show how to use tags in MSG
instructions between Logix-based controllers.
Type of MSG Instruction:
Example Source and Destination:
Logix-based controller writes to Logix-based
controller
(CIP Data Table Write)
source tag
array_1
destination tag
array_2
Logix-based controller reads from
Logix-based controller
(CIP Data Table Read)
source tag
array_1
destination tag
array_2
The source and destination tags:
• must be controller-scoped tags.
• can be of any data type, except for AXIS, MESSAGE, or
MOTION_GROUP.
Communicating with Other Controllers Over ControlNet
The DriveLogix5730 controller also uses MSG instructions to communicate
with PLC and SLC controllers. The MSG instructions differ depending on
which controller initiates the instruction.
For MSG instructions originating from a DriveLogix5730 controller to a
PLC or SLC controller:
Type of MSG
Instruction:
Supported Source File Types:
Supported Destination File Types:
DriveLogix writes
to PLC-5 or SLC
In the DriveLogix controller, specify the source data type
based on the destination device:
Specify the destination file type based on the
destination device:
PLC-5: SINT, INT, DINT, or REAL
SLC: INT
PLC-5 typed write: S, B, N, or F
PLC-5 word-range write: S, B, N, F, I, O, A, or D
SLC: B or N
Example source element: array_1
Example destination tag: N7:10
7-12
Communicating with Devices on a ControlNet Link
Type of MSG
Instruction:
DriveLogix writes
to PLC-2
Supported Source File Types:
Supported Destination File Types:
In the DriveLogix controller, select one of these data types:
Use the PLC-2 compatibility file.
SINT, INT, DINT, or REAL
DriveLogix reads
from PLC-5 or
SLC
DriveLogix reads
from PLC-2
Example source element: array_1
Example destination tag: 010
Specify the destination file type based on the destination
device:
In the DriveLogix controller, specify the destination data type
based on the destination device:
PLC-5 typed read: S, B, N, or F
PLC-5 word-range read: S, B, N, F, I, O, A, or D
SLC: B or N
PLC-5: SINT, INT, DINT, or REAL
SLC: INT
Example source element: N7:10
Example destination tag: array_1
Use the PLC-2 compatibility file.
In the DriveLogix controller, select one of these data types:
SINT, INT, DINT, or REAL
Example source element: 010
Example destination tag: array_1
The DriveLogix5730 controller can send typed or word-range commands to
PLC-5 controllers. These commands read and write data differently. The
following diagrams show how the typed and word-range commands differ.
Word-range read command
Typed read command
16-bit words in
PLC-5 controller
32-bit words in
DriveLogix5730 controller
16-bit words in
PLC-5 controller
32-bit words in
DriveLogix5730 controller
1
1
1
2
1
2
2
2
4
3
3
3
3
4
4
4
The typed commands maintain data structure and value.
The word-range commands fill the destination tag contiguously. Data
structure and value change depending on the destination data type.
The DriveLogix5730 controller can process messages initiated from PLC or
SLC controllers. These messages use data table addresses. In order for these
controllers to access tags within the DriveLogix5730 controller, you map
tags to data table addresses.
Mapping Addresses
The programming software includes a PLC/SLC mapping tool which allows
you to make an existing controller array tag in the local controller available
to PLC-2, PLC-3, PLC-5, or SLC controllers.
Communicating with Devices on a ControlNet Link
7-13
To map addresses:
ahw0889.tif
1. From the Logic menu, select Map PLC/SLC Messages.
2. Specify this information:
For:
In this field:
Specify:
For example:
PLC-3, PLC-5, and
SLC controllers
File Number
Type the file number of the data table in the PLC/SLC controller. 10
Tag Name
Type the array tag name the local controller uses to refer to the
PLC/SLC data table address. The tag must be an integer array
(SINT, INT, or DINT) that is large enough for the message data.
array_1
PLC-2 controllers
Tag Name
Type the tag name to be the PLC-2 compatibility file.
200
TIP: You can map as many tags as you want to a PLC-3, PLC-5, or SLC
controller. You can map only one tag to a PLC-2 controller.
The following table shows example source and destination tags and
elements for different controller combinations.
Type of MSG Instruction:
Example Source and Destination:
PLC-5 writes to DriveLogix5730
source element
N7:10
SLC writes to DriveLogix5730
SLC 5/05
SLC 5/04 OS402 and above
SLC 5/03 OS303 and above
destination tag
“array_1”
The PLC-5, PLC-3, and SLC controllers support logical ASCII addressing so you do not have to
map a compatibility file for MSG instructions initiated by a PLC-5, PLC-3, or SLC controller. Place
the DriveLogix5730 tag name in double quotes (“).
You could optionally map a compatibility file. For example, if you enter 10 for the compatibility file,
you enter N10:0 for the destination tag.
PLC-2 writes to DriveLogix5730
source element
010
destination tag
200
The destination tag is the three-digit PLC-2 address you specified for PLC-2 mapping.
7-14
Communicating with Devices on a ControlNet Link
Type of MSG Instruction:
Example Source and Destination:
PLC-5 reads from DriveLogix5730
source tag
“array_1”
SLC reads from DriveLogix5730
SLC 5/05
SLC 5/04 OS402 and above
SLC 5/03 OS303 and above
destination element
N7:10
The PLC-5, PLC-3, and SLC controllers support logical ASCII addressing so you do not have to
map a compatibility file for MSG instructions initiated by a PLC-5, PLC-3, or SLC controller. Place
the DriveLogix5730 tag name in double quotes (“).
You could optionally map a compatibility file. For example, if you enter 10 for the compatibility file,
you enter N10:0 for the source tag.
PLC-2 reads from DriveLogix5730
source tag
200
destination element
010
The source tag is the three-digit PLC-2 address you specified for PLC-2 mapping.
When the DriveLogix5730 controller initiates messages to PLC or SLC
controllers, you do not have to map compatibility files. You enter the data
table address of the target device just as you would a tag name.
SLC 5/05 controllers, SLC 5/04 controllers (OS402 and above), and SLC 5/
03 controllers (OS303 and above) support logical ASCII addressing and
support PLC/SLC mapping (see the examples above). For all other SLC or
MicroLogix1000 controllers, you must map a PLC-2 compatibility file (see
the PLC-2 examples above).
Producing and Consuming
Data
The DriveLogix5730 controller supports the ability to produce (broadcast)
and consume (receive) system-shared tags over a ControlNet link. Produced
and consumed data is accessible by multiple controllers over a ControlNet
network. Produced and consumed data are scheduled connections because
the controller sends or receives data at a predetermined RPI rate.
Produced and consumed tags must be controller-scoped tags of DINT or
REAL data type, or in an array or structure.
Tag type:
Description:
Specify:
produced
These are tags that the controller produced for
other controllers to consume.
Enabled for producing
How many consumers allowed
consumed
These are tags whose values are produced by
another controller.
Controller name that owns the tag that the local controller wants
to consume
Tag name or instance that the controller wants to consume
Data type of the tag to consume
Update interval of how often the local controller consumes the tag
The producer and consumer must be configured correctly for the specified
data to be shared. A produced tag in the producer must be specified exactly
the same as a consumed tag in the consumer.
If any produced/consumed tag between a producer and consumer is not
specified correctly, none of the produced/consumed tags for that producer
and consumer will be transferred. However, other consumers can still access
their shared tags, as long as their tags are specified correctly. One consumer
failing to access shared data does not affect other consumers accessing the
same data.
Communicating with Devices on a ControlNet Link
7-15
Maximum Number of Produced and Consumed Tags
The maximum number of produced/consumed tags that you can configure
depends on the connection limits of the communication device that transfers
the produced/consumed data.
Each produced tag uses one connection for the tag and the first configured
consumer of the tag. Each consumer thereafter uses an additional
connection.
Size Limit of a Produced or Consumed Tag
A produced or consumed tag can be as large as 488 bytes, but it must also fit
within the bandwidth of the ControlNet network:
• As the number of connections over a ControlNet network increases,
several connections, including produced or consumed tags, may need to
share a network update.
• Since a ControlNet network can only pass 500 bytes in one update, the
data of each connection must be less than 488 bytes to fit into the update.
If a produced or consumed tag is too large for your ControlNet network,
make one or more of the following adjustments:
• Reduce the Network Update Time (NUT). At a faster NUT, less
connections have to share an update slot.
• Increase the Requested Packet Interval (RPI) of all connections. At a
higher RPI, connections can take turns sending data during an update
slot.
• For a ControlNet bridge module (CNB) in a remote chassis, select the
most efficient communication format for that chassis:
Are most of the modules in the chassis
non-diagnostic, digital I/O modules?
Then select this communication format for
the remote communication module:
yes
rack optimization
no
none
The Rack Optimization format uses an additional 8 bytes for each slot in its
chassis. Analog modules or modules that are sending or getting diagnostic,
fuse, or timestamp data require direct connections and cannot take
advantage of the rack optimized form. Selecting “None” frees up the 8 bytes
per slot for other uses, such as produced or consumed tags.
• Separate the tag into two or more smaller tags:
– Group the data according to similar update rates. For example, you
could create one tag for data that is critical and another tag for data
that is not as critical.
– Assign a different RPI to each tag.
• Create logic to transfer the data in smaller sections (packets).
7-16
Communicating with Devices on a ControlNet Link
Producing a Tag
Produced data must be of DINT or REAL data type or an array or structure.
You can use a user-defined structure to group BOOL, SINT, and INT data to
be produced. To create a produced tag:
1. You must be programming offline.
2. In the controller organizer, double-click the Controller Tags folder and
then click the Edit Tags tab.
3. Select the tag that you want to produce, or enter a new tag, and display
the Tag Properties dialog box.
4. Make sure the tag is controller scope.
5. Select the “Produce this tag” check box. Specify how many controllers
can consume the tag.
You can produce a base, alias, or consumed tag.
The consumed tag in a receiving controller must have the same data type as
the produced tag in the originating controller. The controller performs type
checking to ensure proper data is being received.
Produced tags require connections. The number of connections depends on
how many controllers are consuming the tags. The controller requires one
connection for the produced tag and the first consumer. Then, the controller
requires an additional connection for each subsequent consumer.
Consuming a Tag
A consumed tag represents data that is produced (broadcast) by one
controller and received and stored by the consuming controller. To create a
consumed tag:
Communicating with Devices on a ControlNet Link
7-17
1. You must be programming offline.
2. In the controller organizer, double-click the Controller Tags folder and
then click the Edit Tags tab.
3. Select the tag that you want to consume, or enter a new tag, and display
the Tag Properties dialog box.
4. Specify:
In this field:
Type or select:
Tag Type
Select Consumed.
Controller
Select the name of the other controller. You must have already created the controller in the controller
organizer for the controller name to be available.
Remote Tag Name
Remote Instance
Type a name for the tag in the other controller you want to consume.
Important: The name must match the name in the remote controller exactly, or the
connection faults.
If the remote controller is a ControlNet PLC-5, this field is Remote Instance. Select the instance
number (1-128) of the data on the remote controller.
RPI
(requested packet interval)
Type the amount of time in msec between updates of the data from the remote controller. The local
controller will receive data at least this fast.
Display Style
If you are creating a consumed tag that refers to a tag whose data type is BOOL, SINT, INT, DINT, or
REAL, you can select a display style. This display style defines how the tag value will be displayed in
the data monitor and ladder editor. The display style does not have to match the display style of the
tag in the remote controller.
All consumed tags are automatically controller-scope.
To consume data from a remote controller, use RSNetWorx software to
schedule the connection over the ControlNet network.
The produced tag in the originating DriveLogix controller must have the
same data type as the consumed tag in the other DriveLogix controller. The
DriveLogix controller performs type checking to ensure proper data is being
received.
Important: If a consumed-tag connection fails, all of the other tags being
consumed from that remote controller stop receiving data.
Guidelines for Configuring
Connections
The 1788-CNx communication daughtercard supports 9 scheduled
connections. How you configure these connections determines how many
devices the daughtercard can support.
The NUT and RPI also play a part in determining how many connections a
1788-CNx can support in a given application, assuming the RPIs will be the
same for all connections. You must also make sure that you do not exceed
the maximum number of bytes per NUT.
• With the NUT = 5ms, the limit is 3 connections
• With the NUT = 10ms, the limit is 7connections
• With the NUT > 20ms, the limit is 9 connections
7-18
Communicating with Devices on a ControlNet Link
Determining the API
The API (actual packets per interval) is related to the RPI for the connection
and the NUT of the network. Use this table to select the API to enter in the
above worksheet:
Enter this value for the API:
RPI ≥ NUT and RPI < 2∗NUT
NUT
RPI ≥ 2∗NUT and RPI < 4∗NUT
2∗NUT
RPI ≥ 4∗NUT and RPI < 8∗NUT
4∗NUT
RPI ≥ 8∗NUT and RPI < 16∗NUT
8∗NUT
RPI ≥ 16∗NUT and RPI < 32∗NUT
16∗NUT
RPI ≥ 32∗NUT and RPI < 64∗NUT
32∗NUT
RPI ≥ 64∗NUT and RPI < 128∗NUT
64∗NUT
RPI ≥ 128∗NUT
128∗NUT
In the following example, one DriveLogix5730 controller controls remote
I/O through a 1794-ACN15 module.
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Example 1: DriveLogix
Controller and Remote I/O
If:
DriveLogix5730 Controller
(DriveLogix1)
ControlNet
1794-ACN with remote I/O
(Remote1)
Example 1: Controlling Remote Devices
This example has DriveLogix1 controlling the I/O connected to the remote
1794-ACN15 module. The data the DriveLogix controller receives from the
remote I/O modules depends on how you configure the remote I/O modules.
You can configure each module as a direct connection or as rack optimized.
One chassis can have a combination of some modules configured as a direct
connection and others as rack optimized.
Communicating with Devices on a ControlNet Link
7-19
Example 1: Total Connections Required by DriveLogix1
The following table calculates the connections used in this example.
Connection:
Amount:
DriveLogix1 controller to 3 local I/O modules
rack-optimized connection for the DIN rail
direct connection for each I/O module
1
3
DriveLogix1 controller to remote 1794-ACNR15
1
DriveLogix1 to 4 remote I/O modules (through 1794-ACNR15)
all I/O modules configured as direct connection
no connection to the 1794-ACNR15
4
total connections used: 9
If you configured the remote I/O modules as rack-optimized, you would
only need a rack-optimized connection to the 1794-ACNR15, reducing the
above example by 3 connections.
Example 2: DriveLogix5730
Controller to
DriveLogix5730 Controller
In the following example, one DriveLogix5730 controller communicates
with another DriveLogix5730 controller over ControlNet. Each DriveLogix
controller has its own local I/O.
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DriveLogix5730 Controller
(DriveLogix1)
DriveLogix5730 Controller
(DriveLogix2)
workstation
ControlNet
Example 2: Sending a MSG Instruction
To send a MSG from DriveLogix1 to DriveLogix2:
1. For DriveLogix1, create a controller-scoped tag and select the
MESSAGE data type.
2. Enter a MSG instruction.
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In this example logic, a message is sent when a specific condition is met.
When count_send is set, the ladder logic sends the count_msg MSG.
Communicating with Devices on a ControlNet Link
3. Configure the MSG instruction. On the Configuration tab:
For this item:
Specify:
Message Type
CIP Data Table Read or
CIP Data Table Write
Source Tag
Tag containing the data to be transferred
Number of Elements
Number of array elements to transfer
Destination Tag
Tag to which the data will be transferred
4. On the Communication tab, specify the communication path.
A communication path requires pairs of numbers. The first number in the
pair identifies the port from which the message exits. The second number
in the pair designates the node address of the next device.
For this item:
Specify:
Communication Path
1,4,2,27,1,0
where:
1 is the virtual backplane of DriveLogix1
4 is 1788-CNC daughtercard in slot 1
2 is the ControlNet port
27 is the ControlNet node of DriveLogix2
1 is the virtual backplane of DriveLogix2
0 is the controller slot of DriveLogix2
Example 2: Producing and Consuming Tags
Produced data must be of DINT or REAL data type or an array or structure.
You can use a user-defined structure to group BOOL, SINT, and INT data to
be produced. You can produce a base, alias, or consumed tag.
The consumed tag must have the same data type as the produced tag in the
originating controller. The controller performs type checking to ensure
proper data is being received.
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7-20
ControlNet
DriveLogix1
tagA
DINT
tagB
Real
DriveLogix2 (controllerb)
tagA
DINT
tagB
Real
workstation
Communicating with Devices on a ControlNet Link
7-21
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This example shows DriveLogix1 producing tagA and consuming tagB:
7-22
Communicating with Devices on a ControlNet Link
Each produced tags requires one connection for the producing controller
and an additional connection for each consuming controller. Each
consumed tag requires one connection.
Example 2: Total connections required by DriveLogix1
The following table calculates the connections used in this example.
Connection:
Amount:
DriveLogix1 controller to 3 local I/O modules
rack-optimized connection for the DIN rail
direct connection for each I/O module
1
3
DriveLogix1 controller to local 1788-CNC
0
DriveLogix1 controller to remote 1788-CNC
0
connected, cached MSG from DriveLogix1 to DriveLogix2
1
produced tagA
produced from DriveLogix1 to DriveLogix2
other consumer (2 are configured)
1
1
produced tagA
produced from DriveLogix1 to DriveLogix2
other consumer (2 are configured)
1
1
consumed TagB
1
total connections used: 10
If you configured the local I/O modules as rack-optimized, you would only
need the DIN-rail connection to the I/O modules, reducing the above
example by 3 connections.
In the following example, one DriveLogix controller communicates with a
Logix5550 controller and a ControlNet PLC-5 controller over ControlNet.
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Example 3: DriveLogix
Controller to Other Devices
ControlNet
DriveLogix5730 Controller
(DriveLogix1)
ControlLogix Controller
(Control1)
ControlNet PLC5
Controller
(PLC5C1)
DriveLogix5730 Controller
(DriveLogix2)
Communicating with Devices on a ControlNet Link
7-23
Example 3: Sending MSG Instructions
You configure a MSG instruction to a Logix5550 controller the same as you
do for a DriveLogix controller. All Logix-based controllers follow the same
MSG configuration requirements. See Example 2 above.
Configuring a MSG instruction for a PLC-5 controller depends on the
originating controller.
For MSG instructions originating from the DriveLogix controller to the
ControlNet PLC-5 controller:
Type of Logix MSG instruction:
Source:
Destination:
Typed Read
any integer element (such as B3:0, T4:0.ACC,
C5:0.ACC, N7:0, etc.)
SINT, INT, or DINT tag
any floating point element (such as F8:0,
PD10:0.SP, etc.)
REAL tag
SINT or INT tag
any integer element (such as B3:0, T4:0.ACC,
C5:0.ACC, N7:0, etc.)
REAL tag
any floating point element (such as F8:0,
PD10:0.SP, etc.)
Word Range Read
any data type (such as B3:0, T4:0, C5:0, R6:0,
N7:0, F8:0, etc.)
SINT, INT, DINT, or REAL
Word Range Write
SINT, INT, DINT, or REAL
any data type (such as B3:0, T4:0, C5:0, R6:0,
N7:0, F8:0, etc.)
Typed Write
The PLC-5 controller supports logical ASCII addressing so you do not have
to map a compatibility file for MSG instructions initiated by a PLC-5
controller. Place the DriveLogix tag name in double quotes (“).
Type of MSG Instruction:
Example Source and Destination:
PLC-5 writes to DriveLogix
source element
N7:10
destination tag
“array_1”
source tag
“array_1”
destination element
N7:10
PLC-5 reads from DriveLogix
Example 3: Producing and Consuming Tags
You can produce and consume tags with any Logix controller the same as
you do with a DriveLogix controller. All Logix controllers follow the same
requirements for producing and consuming tags. See Example 2 above.
7-24
Communicating with Devices on a ControlNet Link
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Producing and consuming tags with a ControlNet PLC-5 controller depends
on the type of data.
ControlNet
DriveLogix5730 Controller
(DriveLogix1)
tagA
ControlLogix Controller
(Control1)
DINT
ControlNet PLC5
Controller
(PLC5C1)
DriveLogix5730 Controller
(DriveLogix2)
Producing a Tag to a ControlNet PLC-5 controller
To produce a tag that a ControlNet PLC-5 controller can consume:
1. Determine the type of data to produce?
If:
And you are producing:
Then:
INT
na
Create a user-defined data type that contains an array of INTs with an even number of
elements, such as INT[2]. When you produce INTs, you must produce two or more.
Create a produced tag and select the user-defined data type you created.
DINT or REAL
Only one DINT or REAL value
Create a produced tag and select the DINT or REAL data type, as appropriate.
More than one DINT or REAL
Create a user-defined data type that contains an array of DINTs or REALs, as appropriate.
Create a produced tag and select the user-defined data type you created.
2. In RSNetWorx software, open the ControlNet configuration for the
target ControlNet PLC-5 controller, insert a Receive Scheduled Message
and enter the following Message size:
If the produced tag contains:
Then, for the Message size, enter:
INTs
The number of integers in the produced tag
DINTs
Two times the number of DINTs or REALs in the produced tag.
For example, if the produced tag contains 10 DINTs, enter 20 for
the Message size.
REALs
3. In the RSNetWorx software, reschedule (save) the network.
The ControlNet PLC-5 controller does not perform type checking. Make
sure the PLC-5 data type can correctly receive the DriveLogix produced
tag to ensure proper data is being received.
When a ControlNet PLC-5 controller consumes a tag that is produced by
a Logix5000 controller, it stores the data in consecutive 16-bit integers.
Communicating with Devices on a ControlNet Link
7-25
The ControlNet PLC-5 controller stores floating-point data, which
requires 32-bits regardless of the type of controller, as follows:
– The first integer contains the upper (left-most) bits of the value.
– The second integer contains the lower (right-most) bits of the value.
To re-construct the floating point data within the ControlNet PLC-5
controller, first reverse the order of the integers and then copy them to a
floating-point file.
Consuming a Tag from a ControlNet PLC-5 Controller
To consume a tag from a ControlNet PLC-5 controller,:
1. In RSNetWorx software, open the ControlNet configuration of the
ControlNet PLC-5 controller, insert a Send Scheduled Message.
2. In RSLogix 5000 software, add the ControlNet PLC-5 controller to the
Controller Organizer.
3. Create a user-defined data type that contains these members:
Data type:
Description:
DINT
Status
INT[x], where “x” is the output size of the data
from the ControlNet PLC-5 controller. (If you are
consuming only one INT, no dimension is
required.)
Data produced by a ControlNet PLC-5 controller
4. Create a consumed tag with the following properties:
For this tag property:
Type or select:
Tag Type
Consumed
Controller
The ControlNet PLC-5 that is producing the data
Remote Instance
The message number from the ControlNet configuration of the
ControlNet PLC-5 controller
RPI
A power of two times the NUT of the ControlNet network. For
example, if the NUT is 5ms, select an RPI of 5, 10, 20, 40, etc.
Data Type
The user-defined data type that you created.
5. In the RSNetWorx for ControlNet software, reschedule (save)
the network.
7-26
Communicating with Devices on a ControlNet Link
Example 3: Total Connections Required by DriveLogix1
The following table calculates the connections used in this example.
Connection:
Amount:
DriveLogix1 controller to 3 local I/O modules
rack-optimized connection for the DIN rail
direct connection for each I/O module
1
3
DriveLogix1 controller to local 1788-CNC
0
DriveLogix1 controller to remote 1756-CNB
1
DriveLogix1 controller to remote ControlNet PLC-5
1
connected, cached MSG from DriveLogix1 to Control1
1
connected, cached MSG from DriveLogix1 to PLC5C1
1
Produced TagA
produced from DriveLogix1 to DriveLogix2
consumed by PLC5C1
1
1
Consumed TagB from DriveLogix2
1
Consumed INT from PLC5C1
1
total connections used: 12
If you configured the local I/O modules as rack-optimized, you would only
need the DIN-rail connection to the I/O modules, reducing the above
example by 3 connections.
You can configure the 1756-CNB module to use no connection. This is
useful if you configure all direct connections to their associated I/O
modules and do not need a rack-optimized connection.
Chapter
8
Communicating with Devices on a DeviceNet
Link
De-energizing the Drive to
Connect or Disconnect a
Cable
!
ATTENTION: Severe injury or death can result from electrical
shock or burn. Verify that the voltage on the bus capacitors has
discharged before connecting to the communication ports.
Measure the DC bus voltage at the +DC & -DC terminals on the
Power Terminal Block. The voltage must be zero.
During the process of configuring DeviceNet communication you will need
to connect or disconnect a programming or network cable at the controller.
You should do this only if the drive is de-energized.
1. Turn off and lock out input power. Wait five minutes.
2. Verify that there is no voltage at the drive’s input power terminals.
3. Measure the DC bus voltage at the +DC & -DC terminals on the Power
Terminal Block. The voltage must be zero.
4. Connect or disconnect the programming or network cable.
5. Turn power back on and proceed with configuring DeviceNet
communication.
8-2
Communicating with Devices on a DeviceNet Link
For the DriveLogix controller to operate on a DeviceNet link, you need:
• a workstation with an appropriate DeviceNet interface card
• RSLinx software to configure the DeviceNet communication driver
• RSLogix 5000 programming software (Version 13 or later) to configure
the DeviceNet communication daughtercard or local 1769-SDN
DeviceNet scanner module as part of the DriveLogix system
• a NetLinx DeviceNet communication daughtercard installed on the
DriveLogix controller (refer to Installing the Communications
Daughtercard on page B-9)
or
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• 1769-SDN DeviceNet scanner module installed on the a bank of local
Compact I/O controlled by the DriveLogix controller
DriveLogix controller with
1769-SDN Scanner Module
installed in a bank of
Compact I/O
or
DriveLogix controller
with 1788-DNBO
Communications
Daughtercard
DeviceNet
DeviceNet
This example uses a NetLinx DeviceNet communication daughtercard
installed on the DriveLogix controller to control a bank of I/O attached to a
1769-ADN adapter module.
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Example: Controlling I/O
Over DeviceNet
DriveLogix controller
with 1788-DNBO
Communications
Daughtercard
DeviceNet
MS
NS
IO
DIAG
1769-ADN Scanner
Module
installed in a bank of
Compact I/O
Communicating with Devices on a DeviceNet Link
8-3
Configuring the 1769-ADN Adapter
In RSNetWorx for DeviceNet, select Online from the Network menu.
Choose the appropriate driver depending on whether the computer is directly connected to DeviceNet or you are accessing
the network through a controller’s backplane and using a different port.
ahw0945.tif
1.
continued
Communicating with Devices on a DeviceNet Link
The software then prompts you to either upload or download. Choose upload. RSNetWorx will then browse the network and
obtain their settings.
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2.
3.
Right click on the 1769-ADN and choose Properties.
ahw0947.tif
8-4
4.
Click on the I/O Bank 1 Configuration tab, then choose upload when prompted. The actual 1769-ADN I/O layout appears.
From this screen you can configure the I/O modules in the 1769-ADN system by simply clicking on the slot number box
associated with each I/O module.
5.
When the I/O modules are configured, click on the Summary tab. Note the number of bytes of input and output data. This
will be used later when adding the adapter to the 1769-SDN’s scanlist.
6.
Click Apply, then OK to save the configuration and download it to the adapter.
Communicating with Devices on a DeviceNet Link
8-5
TIP: Configuration changes made to the adapter or any of its I/O modules
with RSNetWorx will not be saved or downloaded to the adapter once the
adapter is configured in a scanner’s scanlist.
To make configuration changes, the controller must be placed into the
Program mode and the adapter must be temporarily removed from the
scanner’s scanlist.
Setting Up the 1788-DNBO DeviceNet Scanner Scanlist
Right click on the 1788-DNBO and choose Properties.
ahw0948.tif
1.
Click the Scanlist tab, then click Upload when prompted. The area on
the left is called “Available Devices” and the area on the right is called
“Scanlist”. The 1769-ADN adapter should be on the left.
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2.
8-6
Click on the adapter, then click on the single arrow pointing to the right.
This moves the adapter from Available Devices to the scanner’s scanlist.
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Then click on the Edit I/O Parameters button
4. Verify that the Input Size and Output Size are correct. The Output and Input sizes correspond to the total
number of output and input
bytes noted from the adapter’s summary page. In this example, the scanner transmits 6 bytes to the adapter
(output data) and
receives 28 bytes from the adapter (input data).
Click OK when finished with this screen.
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3.
Communicating with Devices on a DeviceNet Link
5.
Click on the Input tab.
Then click Apply and OK.
Download when prompted.
Communicating with Devices on a DeviceNet Link
8-7
Mapping starts at word 0 for both the input and the output data image. The
input status and output configuration words are no longer included with the
I/O data scanlist. Use the status and configuration tags created in RSLogix
5000 software to read status or set configuration bits.
TIP: The input and output data being exchanged by the scanner and
adapter is packed data. This means that there is no special structure to it that
makes it obvious which I/O module it is associated with.
To establish which data is from which module, you must list the number of
input and output words each module has. Then, based on its position in the
I/O bank, you can determine where any module’s data is in the controller’s
I/O tags.
Transferring Data
There are 28 bytes of input data and 6 bytes of output data for this example.
The I/O modules in the adapter’s system are:
Module
Input
Output
ADN Status Information
(added by the 1769-ADN)
1 DINT word
0 words
1769-IA16
1/2 DINT word
0 words
1769-OB16
1/2 DINT word
1/2 DINT word
1769-IF4
3 DINT words
0 words
1769-OF2
2 DINT words
1 DINT word
Total Words 7 DINT words
1 1/2 DINT words
Total Bytes 28 bytes
6 bytes
The total is 7 DINT words or 28 input bytes. The first DINT word is adapter
status, leaving 6 DINT words (24 bytes) for data. The input data maps to the
controller’s input data tag at the following word locations:
Location
Description
Word 0
1769-ADN status information
Word 1
1769-IA16 module’s input word
Word 1
1769-OB16 module’s input data (output data echo)
Words 2-4
1769-IF4 module’s input data
Words 5-6
1769-OF2 module’s input data
The output data can be determined in a similar manner. This data begins
with word 0 of the output tag in the controller as follows:
Location
Description
Word 0
1769-OB16 module’s output word
Words 0-1
1769-OF2 module’s output words
Communicating with Devices on a DeviceNet Link
Module Command Array
The module command array is the primary control interface between your
control program and the module. In RSLogix 5000 software, the
CommandRegister tag structure is as follows:
ahw0953.tif
8-8
Output Word
Bit
Description
Behavior
0
0
Run
This bit controls when the module scans its mapped slave devices. When
set (1), the scanner will process I/O data as defined by its scanlist. To
actually scan the network the Fault and Disable Network command bits
must be clear (0).
1
Fault
When set, the scanner’s I/O mode will be Halt; messaging will still operate.
The fault bit is primarily used to artificially set the slave devices into a fault
state due to some event or condition within the control program.
2
Disable Network
When set, the scanner is functionally removed from the network.
3
HaltScanner
When set, the scanner stops scanning its mapped slave devices.
4
Reset
Restarts access to the DeviceNet network.
Communicating with Devices on a DeviceNet Link
Creating a Project for the DriveLogix5730 Controller
2.
Select the 1788-DNBO DeviceNet
Scanner from the list of possible
communication devices.
Click OK.
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In the Controller Organizer, select the I/O Configuration folder. Right-click the selected folder and select New Module.
ahw0941.tif
1.
3.
Enter a Name for the port and make sure it is assigned to
slot 4.
Click Finish.
8-9
8-10
Communicating with Devices on a DeviceNet Link
If you are using a 1769-SDN Scanner Module, add it to the local
CompactBus:
ahw0942.tif
In the Controller Organizer, select the I/O Configuration folder. Right-click the selected Local CompactBus and select New Module.
Select the 1769-SDN DeviceNet
Scanner from the list of possible
communication devices.
Click OK.
ahw0943.tif
2.
ahw0944.tif
1.
3.
Enter a Name for the port and make sure it is assigned to
appropriate I/O slot.
Click Finish.
Communicating with Devices on a DeviceNet Link
8-11
All tags for I/O modules are automatically created when the profiles for
these modules are configured. Double click on Controller Tags in the
controller organizer to view these tags. Each I/O module slot has Input,
Output and Configuration tags created, if they apply. These tags are
structured as:
Tag
Definition
Local:s:I
s is the slot number
I represents Input Data
Local:s:O
O represents Output Data
Local:s:C
C represents Configuration Data
If the 1769-SDN is in slot 1, the input addresses for the scanner are:
Tag
Definition
Local:1:I.Data[0]
1769-ADN Status Information
Local:1:I.Data[1]
Input Data from 1769-IA16
Local:1:I.Data[1]
Input (output echo) Data from 1769-OB16
Local:1:I.Data[2] through Local:3:I.Data[4]
Input Data from 1769-IF4
Local:1:I.Data[5] through Local:3:I.Data[6]
Input Data from 1769-OF2
This output addresses for the scanner are:
Tag
Definition
Local:1:O.Data[0]
Output data for 1769-OB16
Local:1:O.Data[0] through Local:3:O.Data[1]
Output data for 1769-OF2
ahw0953.tif
The controller uses the CommandRegister (Local:1:O.CommandRegister)
to send commands to the scanner
Communicating with Devices on a DeviceNet Link
Entering Program Logic
The program for this example consists of a single rung that is used to place
the scanner into the RUN mode.
ahw0955.tif
8-12
Chapter
9
Communicating with Devices on a DH485 Link
De-energizing the Drive to
Connect or Disconnect a
Cable
!
ATTENTION: Severe injury or death can result from electrical
shock or burn. Verify that the voltage on the bus capacitors has
discharged before connecting to the communication ports.
Measure the DC bus voltage at the +DC & -DC terminals on the
Power Terminal Block. The voltage must be zero.
During the process of configuring DH485 communication you will need to
connect or disconnect a programming or network cable at the controller.
You should do this only if the drive is de-energized.
1. Turn off and lock out input power. Wait five minutes.
2. Verify that there is no voltage at the drive’s input power terminals.
3. Measure the DC bus voltage at the +DC & -DC terminals on the Power
Terminal Block. The voltage must be zero.
4. Connect or disconnect the programming or network cable.
5. Turn power back on and proceed with configuring DH485
communication.
Understanding How the
DriveLogix5730 Controller
Supports DH485
Communications
When using a DriveLogix5730 controller it is recommended that you use
NetLinx networks (EtherNet/IP, ControlNet, or DeviceNet) because
excessive traffic on a DH-485 network may make it impractical to connect
to a DriveLogix5730 controller with RSLogix 5000 programming software.
DriveLogix5730 processors fully support the DH-485 protocol, but using
the recommended NetLinx networks is more practical.
The DH-485 protocol uses RS-485 half-duplex as its physical interface.
(RS-485 is a definition of electrical characteristics; it is not a protocol.) You
can configure the RS-232 port of the DriveLogix5730 controller to act as a
DH-485 interface. By using a 1761-NET-AIC and the appropriate RS232
cable (1756-CP3 or 1747-CP3), a DriveLogix5730 controller can send and
receive data on a DH-485 network.
Important: A DH-485 network consists of multiple cable segments. Limit
the total length of all the segments to 1219m (4000 ft.).
9-2
Communicating with Devices on a DH485 Link
Configuring Your System for For the DriveLogix5730 controller to operate on a DH-485 network, you
need:
a DH-485 Link
a 1761-NET-AIC interface converter for each DriveLogix5730 controller
you want to put on the DH-485 network.
You can have two controllers per one 1761-NET-AIC converter, but you
need a different cable for each controller. Connect one controller to port 1
(9-pin connector) and one controller to port 2 (mini-DIN connector).
RSLogix 5000 programming software to configure the serial port of the
controller for DH-485 communications.
When attempting to go online or upload/download a program using the
Communications/Who Active window in RSLogix 5000 software, disable
the Autobrowse feature to minimize traffic from RSLogix 5000 software on
the DH-485 network.
Step 1: Configure the Hardware
The RS-232 port is built-in to the front of the DriveLogix5730 controller.
The 1769-L31 controller has two serial ports. Connect the serial port to an
RS-232-to-RS-485 interface converter. One possible converter is the
1761-NET-AIC interface converter.
RS-485 port
port 2: mini-DIN 8 RS-232
baud rate selector switch
port 1: DB-9 RS-232, DTE
ahw0610.eps
dc power source selector switch
terminals for external 24V dc power supply
Connect the serial port of the DriveLogix5730 controller to either port 1 or
port 2 of the 1761-NET-AIC converter. Use the RS-485 port to connect the
converter to the DH-485 network.
Communicating with Devices on a DH485 Link
9-3
The cable you use to connect the controller depends on the port you use on
the 1761-NET-AIC converter.
If you connect to this port:
Use this cable:
port 1
DB-9 RS-232, DTE connection
1747-CP3
or
1761-CBL-AC00
port 2
mini-DIN 8 RS-232 connection
1761-CBL-AP00
or
1761-CBL-PM02
Step 2: Configure the DH-485 port of the controller
1. In RSLogix 5000 programming software, select the Controller folder. Right-click to select Properties.
2. On the System Protocol tab, specify the appropriate serial communication configuration.
ahw0600.tif
ahw0601.tif
3. On the Serial Port tab, specify the appropriate communication settings.
ahw0602.tif
The grayed out settings are selections
that do not apply to a DH-485 network.
9-4
Communicating with Devices on a DH485 Link
Specify these characteristics on the Serial Port tab (default values are shown
in bold):
Characteristic:
Description (default is shown in bold):
Baud Rate
Specifies the communication rate for the DH-485 port. All devices on the same DH-485 network must
be configured for the same baud rate. Select 9600 or 19200 Kbps.
Node Address
Specifies the node address of the DriveLogix controller on the DH-485 network. Select a
number 1-31 decimal, inclusive.
To optimize network performance, assign node addresses in sequential order. Initiators, such as
personal computers, should be assigned the lowest address numbers to minimize the time required
to initialize the network.
Token Hold Factor
Number of transmissions (plus retries) that a node holding a token can send onto the data link each
time that it receives the token. Enter a value between 1-4. The default is 1.
Maximum Node Address
Specifies the maximum node address of all the devices on the DH-485 network. Select a
number 1-31 decimal, inclusive.
To optimize network performance, make sure:
the maximum node address is the highest node number being used on the network
that all the devices on the same DH-485 network have the same selection for the maximum node
address.
Planning a DH-485 Network
The DH-485 network offers:
•
•
•
•
•
interconnection of 32 devices
multi-master capability
token passing access control
the ability to add or remove nodes without disrupting the network
maximum network length of 1219 m (4000 ft.)
The DH-485 protocol supports two classes of devices: initiators and
responders. All initiators on the network get a chance to initiate message
transfers. The DH-485 protocol uses a token-pass algorithm to determine
which initiator has the right to transmit
DH-485 Token Rotation
A node holding the token can send any valid packet onto the network. Each
node gets only one transmission (plus two retries) each time it receives the
token. After a node sends one message packet, it attempts to give the token
to its successor by sending a “token pass” packet to its successor.
If no network activity occurs, the initiator sends the token pass packet again.
After two retries (a total of three tries) the initiator attempts to find a new
successor.
Important: The maximum address that the initiator searches for before
starting again with zero is the value in the configurable parameter
“maximum node address.” The default value for this parameter is
31 for all initiators and responders.
Communicating with Devices on a DH485 Link
9-5
The allowable range of the node address of an initiator is 0 to 31. The
allowable address range for all responders is 1 to 31. There must be at least
one initiator on the network.
Network Initialization
The network requires at least one initiator to initialize it. Network
initialization begins when an initiator on the network detects a period of
inactivity that exceeds the time of a link dead timeout. When the link dead
timeout is exceeded, usually the initiator with the lowest address claims the
token. When an initiator has the token it will begin to build the network.
Building a network begins when the initiator that claimed the token tries to
pass the token to the successor node. If the attempt to pass the token fails, or
if the initiator has no established successor (for example, when it powers
up), it begins a linear search for a successor starting with the node above it
in the addressing.
When the initiator finds another active initiator, it passes the token to that
node, which repeats the process until the token is passed all the way around
the network to the first node. At this point, the network is in a state of
normal operation.
Number of Nodes and Node Addresses
The number of nodes on the network directly affects the data transfer time
between nodes. Unnecessary nodes (such as a second programming
terminal that is not being used) slow the data transfer rate. The maximum
number of nodes on the network is 32.
If the node addresses for controllers are assigned in sequence, starting at
node 1 (with node 0 left for a programming terminal), it is as efficient to
leave the maximum node address at 31 as it is to decrease it to the highest
node address on the network. Then, adding devices to the network at a later
time will not require modifying the maximum node address in every device
on the network. The maximum node address should be the same for all
devices on a DH-485 network for optimal operation.
The best network performance occurs when node addresses start at 0 and
are assigned in sequential order. The controller defaults to node address 1
(controllers cannot be node 0). Initiators, such as personal computers,
should be assigned the lowest numbered addresses to minimize the time
required to initialize the network.
9-6
Communicating with Devices on a DH485 Link
Installing a DH-485 Network
A DH-485 network consists of a number of cable segments daisy-chained
together. The total length of the cable segments cannot exceed 1219 m
(4000 ft).
Important: Use shielded, twisted-pair cable - either Belden 3106A or Belden 9842. A
daisy-chained network is recommended. Star connections are not recommended
ahw0606.eps
When cutting cable segments, make them long enough to route them from
one link coupler to the next with sufficient slack to prevent strain on the
connector. Allow enough extra cable to prevent chafing and kinking in the
cable.
Figure 9.1 Single Cable Connection
Shrink Tubing
(Recommended)
Belden 3106A or 9842 Cable
(3106A Shown)
tion
ina
erm
6 T ta A
a
5 D ta B
a
n
4 D mmo
o
nd
3 C ield Grou
h
2 S assis
h
1C
Orange Wire
with White Stripe
(OR/WH)
White Wire
with Orange Stripe
(WH/OR)
Blue Wire
(BU)
Drain Wire
(Shield)
ahw0603.eps
Communicating with Devices on a DH485 Link
Connections Using Belden 3106 Cable
The table and schematic diagram below shows wire/terminal connections
for Belden 3106A cable.
6
5
4
3
2
1
OR/WH
WH/OR
BU
ahw0604.eps
Termination
Data A
Data B
Common
Shield
Chassis Ground
For this Wire/Pair
Connect this Wire
To this Terminal
white/orange
orange with white stripe
5 - Data A)
white with orange stripe
4 - (Data B)
blue
blue
3 - (Common)
shield/drain
non-jacketed
2 - Shield
Connections Using Belden 9842 Cable
The table and schematic diagram below shows wire/terminal connections
for Belden 9842 cable.
ahw0609.eps
OR/WH
WH/OR
BU/WH
WH/BU
6
5
4
3
2
1
Termination
Data A
Data B
Common
Shield
Chassis Ground
For this Wire/Pair
Connect this Wire
To this Terminal
white/orange
orange with white stripe
5 - (Data A)
white with orange stripe
4 - (Data B)
white with blue stripe
cut back - no connection(1)
blue with white stripe
3 - (Common)
non-jacketed
2 - Shield
blue/white
shield/drain
(1)
To prevent confusion when installing the communication cable, cut back the white with blue stripe wire
immediately after the insulation jacket is removed. This wire is not used by DH-485.
9-7
9-8
Communicating with Devices on a DH485 Link
Grounding and Terminating a DH-485 Network
You must terminate the network at the first and last PHYSICAL devices, by
connecting pin 6 (Termination) to pin 5 (Data A).
You must ground the network at the first PHYSICAL device by connecting
pin 1 (Chassis Ground) to pin 2 (Shield).
Add jumpers to connect pin 6 (Termination) to
pin 5 (Data A) on the first and last PHYSICAL devices
ahw0607.eps
Termination
Data A
Data B
Common
Shield
Chassis Ground
6
5
4
3
2
1
OR/WH
WH/OR
BU
OR/WH
WH/OR
BU
6
5
4
3
2
1
Termination
Data A
Data B
Common
Shield
Chassis Ground
Add jumper to connect pin 1 (Chassis Ground) to
pin 2 (Shield) on the first PHYSICAL device
Important: A device’s physical location may be independent of its node
address. Make sure you ground and terminate the proper
PHYSICAL locations.
Communicating with Devices on a DH485 Link
9-9
Browsing a DH-485 Network To improve performance when browsing a DH-485 network, configure the
DH-485 network properties in RSLinx software to display only those nodes
Remotely
that actually exist on the network.
1. In RSLinx software, right-click on the DH-485 network you plan to browse and select Properties.
2. On the Browse Addresses tab, specify the lowest and highest addresses that exist on the DH-485 network.
ahw0954.tif
If you do not specify a specific range of addresses on the DH-485 network,
the RSWho function in RSLinx software attempts to locate a device at every
node address. Trying to locate devices that do not exist adds considerable
time to displaying the RSWho window for the network.
9-10
Notes:
Communicating with Devices on a DH485 Link
Appendix
A
DriveLogix5730 Controller Specifications
DriveLogix5730 Controller
Specifications
Category
serial port (CH0 -RS-232)
Specification
RS-232, fully isolated
DF1, DH-485, ASCII
38.4 Kbits/s maximum
optional embedded EtherNet/IP RJ-45 or 100BaseT
10/100 Mbytes/sec
connectivity options
• NetLinx communication daughtercards
(these options require the Logix
(ControlNet, EtherNet/IP, DeviceNet, Third Party)
Expansion Board and Expanded • Compact I/O connection
Cassette)
• CompactFlash (memory card)
user memory
1.5 Mbyte
nonvolatile memory
1784-CF64 CompactFlash
maximum number of I/O banks 2
maximum number of I/O modules 16 (8 modules per bank)
or
(4 max on either side of the power supply)
battery
1769-BA
serial cable
1756-CP3 directly to controller
Compact I/O Cable
1747-CP3 directly to controller
20D-DL2-CR3
20D-DL2-CL3
DriveLogix5730
Environmental
Specifications
Category
operating temperature
storage temperature
relative humidity
vibration
shock
emissions
Electrical/EMC
ESD Immunity (IEC61000-4-2)
Radiated RF Immunity
(IEC61000-4-3)
Surge Transient Immunity
(IEC61000-4-5)
Conducted RF Immunity
(IEC61000-4-6)
Specification
CISPA11: Group 1, Class A
The unit has passed testing at the following levels:
4 kV contact discharges, 8 kV air discharges
10V/M with 1kHz sine-wave 80%AM from 30MHz to 2000MHz
10V/m with 200Hz 50% Pulse 100%AM at 900MHz
+1 kV line-line (DM) and +2 kV line-earth (CM) on signal ports
A-2
DriveLogix5730 Controller Specifications
DriveLogix5730
Certifications
Certification
c-UL-us
CE(1)
C-Tick(1)
Pending at time of printing
EtherNet/IP
c-UL-us
(1)
Real-Time Clock Accuracy
Description
UL Listed for Class I, Division 2 Group A,B,C,D Hazardous
Locations, certified for U.S. and Canada
European Union 89/336/EEC EMC Directive, compliant with:
• EN 50082-2; Industrial Immunity
• EN 61326; Meas./Control/Lab., Industrial Requirements
• EN 61000-6-2; Industrial Immunity
• EN 61000-6-4; Industrial Emissions
Australian Radio communications Act, compliant with:
• AS/NZS CISPR 11; Industrial Emissions
ODVA conformance tested to EtherNet/IP specifications
UL Listed for Class I, Division 2 Group A,B,C,D Hazardous
Locations, certified for U.S. and Canada
See the Product Certification link at www.ab.com for Declarations of Conformity, Certificates, and other
certification details.
Ambient °C
0°C
+25°C
+40°C
+55°C
+60°C
Accuracy
+54 to -56 seconds/month
+9 to -124 seconds/month
-84 to -234 seconds/month
-228 to -394 seconds/month
-287 to -459 seconds/month
DriveLogix5730 Controller Specifications
A-3
Controller LEDs
!
ATTENTION: The controller LEDs are only operational when
the drive is energized, and only visible with the drive door open.
Servicing energized equipment can be hazardous. Severe injury
or death can result from electrical shock, burn or unintended
actuation of controlled equipment. Follow Safety related
practices of NFPA 70E, ELECTRICAL SAFETY FOR
EMPLOYEE WORKPLACES. DO NOT work alone on energized
equipment!
RUN (Drive)(1)
RUN (DriveLogix)
FORCE
I/O
COM
BAT
(1) Do not confuse the Drive Run LED with the DriveLogix Run LED. The Drive
Run LED indicates a drive function NOT a DriveLogix function.
led_drivelogix.eps
OK
A-4
DriveLogix5730 Controller Specifications
Indicator:
Color:
Description:
RUN
off
The controller is in Program or Test mode.
FORCE
BAT
I/O
COM
OK
solid green
The controller is in Run mode.
off
No tags contain I/O force values.
I/O forces are inactive (disabled).
solid amber
I/O forces are active (enabled).
I/O force values may or may not exist.
flashing amber
One or more input or output addresses have been forced to an On or Off
state, but the forces have not been enabled.
off
The battery supports memory.
solid red
Either the battery is:
not installed.
95% discharged and should be replaced.
off
Either:
There are no devices in the I/O configuration of the controller.
The controller does not contain a project (controller memory is empty).
solid green
The controller is communicating with all the devices in its I/O configuration.
flashing green
One or more devices in the I/O configuration of the controller are not
responding.
flashing red
The controller is not communicating to any devices.
The controller is faulted.
off
No RS-232 activity.
flashing green
RS-232 activity.
off
No power is applied.
flashing red
If the controller is:
Then:
a new controller
the controller requires a firmware update
not a new controller
A major fault occurred.
To clear the fault, either:
- Turn the key switch from PROG to RUN to PROG
- Go online with RSLogix 5000 software
solid red
The controller detected a non-recoverable fault, so it cleared the project
from memory. To recover:
Cycle power to the chassis.
Download the project.
Change to Run mode.
If the OK LED remains solid red, contact your Rockwell Automation
representative or local distributor.
solid green
Controller is OK.
flashing green
The controller is storing or loading a project to or from nonvolatile memory.
DriveLogix5730 Controller Specifications
A-5
CompactFlash card LED
!
!
ATTENTION: The CompactFlash LED is only operational
when the drive is energized, and only visible with the drive door
open. Servicing energized equipment can be hazardous. Severe
injury or death can result from electrical shock, burn or
unintended actuation of controlled equipment. Follow Safety
related practices of NFPA 70E, ELECTRICAL SAFETY FOR
EMPLOYEE WORKPLACES. DO NOT work alone on energized
equipment!
ATTENTION: Do not remove the CompactFlash card while the
controller is reading from or writing to the card, as indicated by a
flashing green CF LED. This could corrupt the data on the card
or in the controller, as well as corrupt the latest firmware in the
controller.
Indicator:
Color:
Description:
CF
off
No activity.
flashing green
The controller is reading from or writing to the CompactFlash card.
flashing red
CompactFlash card does not have a valid file system.
A-6
DriveLogix5730 Controller Specifications
Embedded EtherNet/IP
Option LEDs
!
ATTENTION: The Embedded EtherNet/IP Option LEDs are
only operational when the drive is energized, and only visible
with the drive door open. Servicing energized equipment can be
hazardous. Severe injury or death can result from electrical
shock, burn or unintended actuation of controlled equipment.
Follow Safety related practices of NFPA 70E, ELECTRICAL
SAFETY FOR EMPLOYEE WORKPLACES. DO NOT work
alone on energized equipment!
Module Status (MS)
Network Status (NS)
ahw0864.eps
Link Status (LNK)
Module Status (MS) indicator
Condition:
Status:
Indicates:
Recommended Action:
off
no power
The controller does not have power.
Check the controller power supply.
flashing green
standby
The port does not have an IP address and is
operating in BOOTP mode.
Verify that the BOOTP server is running.
solid green
OK
The port is operating correctly.
Normal operation. No action required.
DriveLogix5730 Controller Specifications
Condition:
Status:
Indicates:
Recommended Action:
solid red
held in reset
The controller is holding the port in reset or the
controller is faulted.
Clear the controller fault.
Replace the controller.
self-test
The port is performing its power-up self-test.
Normal operation during power-up. No action
required.
major fault
An unrecoverable fault has occurred.
Cycle power to the controller.
Replace the controller.
updating firmware
The port firmware is being updated.
Normal operation during firmware update. No
action required.
flashing red
A-7
Network Status (NS) indicator
Condition:
Status:
Indicates:
Recommended Action:
off
not initialized
The port does not have an IP address and is
operating in BOOTP mode.
Verify that the BOOTP server is running.
flashing green
no CIP
connections
established
The port has an IP address, but no CIP connections
are established.
Normal operation if no connections are
configured. No action required.
If connections are configured, check connection
originator for connection error code.
solid green
CIP connections
established
The port has an IP address and CIP connections
(Class 1 or Class 3) are established.
Normal operation. No action required.
solid red
duplicate IP
address
The port has detected that the assigned IP address is
already in use.
Verify that all IP addresses are unique.
flashing red/green
self-test
The port is performing its power-up self-test.
Normal operation during powerup.
Link Status (LNK) indicator
Condition:
Status:
Indicates:
Recommended Action:
off
no link
The port is not connected to a powered Ethernet
device.
The port cannot communicate on Ethernet.
Verify that all Ethernet cables are connected.
Verify that Ethernet switch is powered.
flashing green
self-test
The port is performing its power-up self-test.
Normal operation during powerup.
data transmission
and reception
The port is communicating on Ethernet.
Normal operation.
No action required.
link OK
The port is connected to a powered Ethernet device.
The port can communicate on Ethernet.
Normal operation.
No action required.
solid green
A-8
DriveLogix5730 Controller Specifications
Battery Life
Time ON/OFF
at 25°C (77°F)
at 40°C (104°F)
at 60°C (140°F)
Always OFF
14 months
12 months
9 months
ON 8 hours per day
5 days per week
18 months
15 months
12 months
ON 16 hours per day
5 days per week
26 months
22 months
16 months
Always ON
There is almost no drain on the battery when the controller is always ON.
Battery duration after the LED turns on
The battery indicator (BAT) warns you when the battery is low. These
durations are the amounts of time the battery will retain controller memory
from the time the controller is powered down after the LED first turns on.
Temperature
Duration
60°C
8 days
25°C
25 days
Appendix
B
Access Procedures
Removing Power from Drive
and Compact I/O
ATTENTION: To avoid an electric shock hazard, verify that the
voltage on the bus capacitors has discharged before performing
any work on the drive. Measure the DC bus voltage at the +DC &
–DC terminals of the Power Terminal Block. The voltage must
be zero.
!
Remove power before making or breaking cable connections.
When you remove or insert a cable connector with power
applied, an electrical arc may occur. An electrical arc can cause
personal injury or property damage by:
• sending an erroneous signal to your system’s field devices,
causing unintended machine motion
• causing an explosion in a hazardous environment
Electrical arcing causes excessive wear to contacts on both the
module and its mating connector. Worn contacts may create
electrical resistance.
L1
L2
L3
Task
I
A
B
io_bd1.eps
C
O
Description
Turn off and lock out input power. Wait five minutes.
Verify that there is no voltage at the drive’s input power terminals.
Measure the DC bus voltage at the +DC & -DC terminals on the
Power Terminal Block. The voltage must be zero.
B-2
Access Procedures
Opening Door Over Power
Structure and Main Control
Board
ahw0966.eps
Frames 1-4
Locate the slot in the upper left corner. Slide
the locking tab up and swing the cover open.
Special hinges allow cover to move away from
drive and lay on top of adjacent drive (if
present).
Frame 5
Slide the locking tab up, loosen the right-hand
cover screw and remove.
Frame 6
Loosen 2 screws at bottom of drive cover.
Carefully slide bottom cover down & out.
Loosen the 2 screws at top of cover and
remove.
Removing the Control
Cassette from Frame 1-6
Size Drives
B
Task
A
B
B
C
Description
Open the door of the power structure and disconnect the cables that
connect to the main board
Loosen screws on face of cassette
Remove the cassette
A
1
BR 2
BR
PE
L2
DC
DC- +
U/
V/ T1
W T2
R/L1 /T3
C
esd.eps
=
ahw0752.eps
Access Procedures
B-3
Removing the Outside
Covers
Task
A
B
Description
Loosen screws on face of front cover and remove
the cover
Loosen screws on side of rear cover and remove
the cover
Proper tightening torque for
reassembly is 7-10 lb.-in.
A
ahw0751.eps
esd.eps
=
B
Removing the Inside Cover
Proper tightening torque for
reassembly is 7-10 lb.-in.
A
=
A
A
ahw0863.eps
A
Description
Loosen screws on face of front cover and remove
the cover
esd.eps
Task
Access Procedures
Connecting the Battery
Allen-Bradley ships the DriveLogix controller with the battery installed, but
disconnected. You must connect the battery while installing the drive.
ahw0865.eps
B-4
Battery
Plug and socket
Battery clip
Storing the Battery
!
ATTENTION: Store batteries in a cool, dry environment.
We recommend 25° C with 40% to 60% relative humidity.
You may store batteries for up to 30 days between -45° to 85°
C, such as during transportation. To avoid possible leakage,
do not store batteries above 60° C for more than 30 days.
Access Procedures
B-5
Replacing the Battery
!
!
ATTENTION: Servicing energized equipment can be
hazardous. Severe injury or death can result from electrical
shock, burn or unintended actuation of controlled equipment.
Follow Safety related practices of NFPA 70E, ELECTRICAL
SAFETY FOR EMPLOYEE WORKPLACES. DO NOT work
alone on energized equipment!
ATTENTION: The controller uses a lithium battery, which
contains potentially dangerous chemicals. Before handling or
disposing a battery, review Guidelines for Handling Lithium
Batteries, publication AG-5.4.
1. Open the drive door and connect to the appropriate communication port
on the controller while the drive and the DriveLogix5730 controller are
energized.
2. Upload the controller’s memory and program to a computer with
RSLogix 5000 programming software.
3. Remove power from the drive and the DriveLogix5730 controller. Verify
that the voltage on the bus capacitors has discharged before performing
any work on the drive. Measure the DC bus voltage at the +DC & –DC
terminals of the Power Terminal Block. The voltage must be zero.
4. Remove control cassette.
5. Does the existing battery show signs of leakage or damage?
If:
Then:
Yes
Before handling the battery, review Guidelines for Handling Lithium Batteries,
publication AG-5.4.
No
Go to the next step.
6. Remove the old battery, by unplugging the battery and opening the clip
which secures the battery.
7. Install a new 1769-BA battery, by plugging the battery lead into the
socket.
!
ATTENTION: Only install a 1769-BA battery. If you install
a different battery, you may damage the controller.
8. Attach the battery label. Write on the battery label the date you install the
battery.
9. Secure the new battery in the battery clip.
10.Re-install the control cassette.
11.Energize the drive and the DriveLogix5730 controller.
B-6
Access Procedures
12.On the front of the controller, is the BATTERY LED off?
If:
Then:
Yes
Go to the next step.
No
A. Check that the battery is correctly connected to the controller.
B. If the BATTERY LED remains on, install another 1769-BA battery.
C. If the BATTERY LED remains on after you complete Step B., contact your
Rockwell Automation representative or local distributor.
13.Download the controller’s memory and program from the computer with
RSLogix 5000 programming software.
14.Remove power from the drive and the DriveLogix5730 controller. Verify
that the voltage on the bus capacitors has discharged before performing
any work on the drive. Measure the DC bus voltage at the +DC & –DC
terminals of the Power Terminal Block. The voltage must be zero.
15.Disconnect from the communication port.
16.Re-install the cover(s).
17.Dispose the old battery according to state and local regulations.
!
ATTENTION: Do not incinerate or dispose lithium batteries
in general trash collection. They may explode or rupture
violently. Follow state and local regulations for disposal of
these materials. You are legally responsible for hazards
created while your battery is being disposed.
Access Procedures
Installing the Embedded
EtherNet/IP Option Board
Task
A
B
C
D
Description
Install and tighten standoffs (7-10 lb.-in.)
Align connector on Embedded EtherNet/IP Option
Board with connector on Main Control Board
Place Embedded EtherNet/IP Option Board on the
Main Control Board
Install and tighten screws (7-10 lb.-in.)
B
esd.eps
=
A
D
ahw0862.eps
C
A
D
Installing the
DriveLogix5730 Expansion
Board
Task
A
B
C
Description
Align connector on DriveLogix5730 Expansion
Board with connector on Main Control Board
Place DriveLogix5730 Expansion Board on the
Main Control Board
Install and tighten screws (7-10 lb.-in.)
esd.eps
=
A
C
ahw0866.eps
B
C
C
C
B-7
B-8
Access Procedures
Installing the Compact I/O
Cable
Task
B
C
A D
A
B
B
C
D
E
Description
Remove screws
Install clips on controller end of cable
Plug controller end of cable into mating connector
on the Logix Expansion Board
Install and tighten screws (7-10 lb.-in.)
Route and secure cable
E
=
esd.eps
E
Use cable tie to anchor
cable to slots on this flange
for strain relief
E
E
ahw0741.eps
ahw0738.eps
A D
Access Procedures
B-9
Installing the
Communications
Daughtercard
A
B
C
C
Description
Align circuit board in Communications
Daughtercard with rail on Daughtercard slot
Insert the Communications Daughtercard
C
=
esd.eps
Task
Tighten screws (7-10 lb.-in.)
A
A
B
ahw0867.eps
Important: This procedure can be performed without
removing the cassette, if the Logix
Expansion Board is already installed.
B-10
Notes:
Access Procedures
Appendix
C
Application Restrictions
Additional Memory
Requirements
If you have this firmware
revision
(add all that apply):
Revision 15.0 or later may require more memory than previous revisions
(e.g., 10.x, 11.x). To estimate the additional memory that your project may
require, use the following table:
Then add the following memory requirements to your project:
Increase per
instance
Component
Which comes from this type of
memory:
I/O (base)
Data and Logic
(expansion)
15.x or earlier
tag that uses the COORDINATE SYSTEM data type
60 bytes
✔
13.x or earlier
program
12 bytes
✔
task
4 bytes
✔
user-defined data type
4 bytes
✔
I/O module
16 bytes
produced or consumed tag
Restrictions
8 bytes
✔
✔
(8 bytes)
(8 bytes)
✔
This firmware version has these restrictions:
Restriction:
Description:
Forcing is not supported
between the PowerFlex 700S
and DriveLogix
The forcing values can be set for the controller inputs and outputs. However, these values will not be used by the
Logix program nor will they be transmitted to the PowerFlex 700S.
Unsupported Motion Commands The following Logix Motion Instructions are not intended for use with DriveLogix and the PowerFlex 700S:
Motion State (for 1756-MO2AE Only)
• MDO (Motion Direct Drive On)
• MDF (Motion Direct Drive Off)
Motion Configuration (for tuning SERCOS cards only)
• MAAT (Motion Apply Axis Tuning)
• MRAT (Motion Run Axis Tuning)
• MAHD (Motion Apply Hookup Diagnostics)
• MRHD (Motion Run Hookup Diagnostics)
Power down banks of local I/O
when the controller is powered
down.
When powering down the controller (the host drive), also power down any banks of local I/O modules. Leaving
additional banks of I/O modules powered on may result in major fault code 22 during the power-up process of
the controller.
C-2
Application Restrictions
Restriction:
Description:
In a Tag of a User-defined Data
Type, an Instruction May Write
Past the End of an Array.
If you write too much data to an array that is within a user-defined data type, some instructions write beyond the
array and into other members of the tag.
Example 1: Instruction Stops at the End of the Array
If the length is greater than the number of elements in
the destination array . . .
. . . then the instruction stops at the end of the array.
Example 2: Instruction Writes Beyond the Array
If the length is greater than the number of elements in
the destination array . . .
. . . then the instruction writes data beyond the end of
the array into other members of the tab. Regardless of
the length specified for the instruction, it stops writing if
it reaches the end of the tag.
The following instructions write beyond the array into other members of the tag:
BSL
BSR
COP
CPS
DDT
FBC
FFL
FFU
FLL
GSV
LFL
LFU
SQL
SRT
SSV
This restriction also applies to all previous revisions.
To prevent writing beyond the limits of the destination array, make sure that the length operand of the instruction
is less than or equal to the number of elements in the array.
Application Restrictions
C-3
When 1769 Compact I/O modules are used as local I/O modules in a
Hold Last State and
User-Defined Safe State Not DriveLogix5730 system, the local I/O modules do not support the Hold Last
State or User-Defined Safe State features, even though you can configure
Supported
these options in the programming software.
• If a local I/O module fails such that its communication to the controller is
lost, or if any module is disconnected from the system bus while under
power, the controller will go into the fault mode. All outputs turn off
when the system bus or any module faults.
• RSLogix 5000 software creates tags for modules when you add them to
the I/O configuration. The 1769 module tags define configuration (C)
data type members which may include attributes for alternate outputs.
DriveLogix5730 does not enable local modules to use the alternate
outputs. Do not configure the attributes listed below:
For digital output modules:
For analog output modules:
• ProgToFaultEn
• CHxProgToFaultEn
• ProgMode
• CHxProgMode
• ProgValue
• CHxFaultMode
• FaultMode
• where CHx = the channel number
• FaultValue
Any 1769 Compact I/O modules used as remote I/O modules in a
DriveLogix5730 system do support the Hold Last State and
User-Defined Safe State features.
C-4
Notes:
Application Restrictions
Index
Numerics
1769-ADN adapter 8-3
1769-CRL1/-CRL3 cable 3-2
1769-CRR1/-CRR3 cable 3-2
1788-DNBO DeviceNet scanner 8-5
20D-DL2-CL3 cable 3-2
20D-DL2-CR3 cable 3-2
A
accessing
distributed I/O on ControlNet 7-5
distributed I/O on EtherNetI/P 6-13
I/O data 3-12
Additional Memory Requirements C-1
addresses ControlNet communication to
non-Logix controllers 7-12
aliases 3-14
certifications A-2
clock
accuracy A-2
communicating
master/slave serial methods 5-8
to non-Logix controller over ControlNet
7-11
communication format 2-1, 2-5, 3-8
Motion Control 2-8
Position Control 2-7
Speed Control 2-6
User-Defined 1 2-9
User-Defined 2 2-10
communications driver
configuring for serial link 5-5
ControlNet 7-2
EtherNet/IP 6-10
CompactBus
configuring 3-5
arrays C-2
CompactFlash 1-4, 1-5
ASCII
device 5-11
instructions 5-12
configuring
1769-ADN adapter 8-3
communications driver for serial link 5-5
CompactBus 3-5
controller response to connection failure
3-12
ControlNet daughtercard 7-3
DF1 master 5-9
DF1 point-to-point station 5-6
DF1 slave 5-8
DH-485 port 9-3
drive 2-3
EtherNet/IP communications driver 6-10
generic 1769-MODULE 3-17
local I/O 3-7
network parameters with BOOTP/DHCP
6-3
network parameters with RSLinx 6-6
network parameters with RSLogix 5000
6-7
remote connection via serial link 5-7
system for ControlNet 7-1
system for DH-485 9-2
system for serial link 5-1
the serial port 5-3
AutoFlash 1-4
B
battery
connecting B-4
disposing B-6
LED A-4
life A-8
replacing B-5
specification A-1
storing B-4
BOOTP/DHCP
configuring network parameters 6-3
C
cable
1769-CRL1/-CRL3 3-3
20D-DL2-CL3 3-2
20D-DL2-CR3 3-2
Belden 3106 9-7
Belden 9842 9-7
Compact I/O A-1
installing Compact I/O B-8
serial A-1
connecting
ASCII device 5-11
battery B-4
Index-2
connection failure
configuring controller response to 3-12
ControlFlash 1-3
ControlNet
accessing distributed I/O 7-5
communicating to non-Logix controllers
7-11
configuring communications driver 7-2
configuring system for 7-1
consuming tags 7-16
daughtercard 7-3
I/O 7-4
mapping addresses communication to
non-Logix controllers 7-12
messages 7-9
producing and consuming data 7-14,
7-20, 7-23
producing tags 7-16
scheduling network 7-7
D
daughtercard
ControlNet 7-3
installing B-9
De-energizing the Drive 1-2, 2-1, 3-1, 4-1,
5-1, 6-1, 7-1, 8-1, 9-1, B-1
DeviceNet
1769-ADN adapter 8-3
1788-DNBO DeviceNet scanner 8-5
I/O 8-2
DF1
master 5-9
point-to-point station 5-6
slave 5-8
DH-485
Belden 3106 cable 9-7
Belden 9842 cable 9-7
browsing 9-9
configuring port 9-3
configuring system for 9-2
configuring the port 9-3
grounding 9-8
installing network 9-6
network initialization 9-5
network planning 9-4
nodes 9-5
terminating 9-8
token rotation 9-4
DriveExecutive 2-12
E
Email
using an EtherNet/IP msg 6-24
EtherNet/IP
accessing distributed I/O 6-13
configuring communications driver 6-10
configuring network settings with
BOOTP/DHCP 6-3
configuring network settings with RSLinx
6-6
configuring network settings with
RSLogix 5000 6-7
consuming tags 6-18
controller connections 6-11
controller to controller communication
6-31
determining network settings 6-2
distributed I/O 6-12, 6-31
Email 6-24
messages 6-19
producing and consuming data 6-15
producing tags 6-17
specifications A-1
F
fault data 3-15
firmware
loading 1-2
loading with AutoFlash 1-4
loading with CompactFlash 1-4
loading with ControlFlash 1-3
forcing values C-1
G
Grounding
DH-485 network 9-8
H
Hold Last State and User-Defined Safe
State Not Supported C-3
Index-3
I
I/O
accessing data 3-12
accessing distributed on ControlNet 7-5
accessing distributed on EtherNet/IP
6-13
configuring local 3-7
ControlNet 7-4
DeviceNet 8-2
direct connections 3-14
distributed over EtherNet/I/P 6-12, 6-31
end-cap detections 3-15
generic 1769-MODULE 3-17
hold last state 3-8
inhibiting 3-9
layout 3-3
max modules A-1
max number banks A-1
module faults 3-15
monitoring 3-15
placing 3-2
update 3-4
user-defined safe state 3-8
inhibiting
I/O 3-9
the drive connection 2-11
installing
Compact I/O cable B-8
daughtercard B-9
DH-485 network 9-6
DriveLogix5730 Expansion Board B-7
Embedded EtherNet/IP Option B-7
new battery B-5
K
keying 2-4
L
loading
firmware 1-2
firmware with AutoFlash 1-4
firmware with CompactFlash 1-4
firmware with ControlFlash 1-3
M
mapping 7-12
addresses EtherNet/IP communication
to non-Logix controllers 6-22
Motion Control communication format
2-8
Position Control communication format
2-7
Speed Control communication format
2-6
User-Defined 1 communication format
2-9
User-Defined 2 communication format
2-10
master/slave communication methods 5-8
memory
specifications A-1
messages
ControlNet 7-9
EtherNet/IP 6-19
Motion Control
communication format 2-8
N
network settings
EtherNet/IP 6-2
P
placing
drive 2-3
I/O 3-2
Position Control
communication format 2-7
Powering Down 1-2, 2-1, 3-1, 4-1, 5-1, 6-1,
7-1, 8-1, 9-1, B-1
producing and consuming data
ControlNet 7-14, 7-20, 7-23
EtherNet/IP 6-15
programming ASCII instructions 5-12
programs
defining 1-8
developing 1-6
local I/O C-1
R
remote connection
serial link 5-7
Index-4
replacing
battery B-5
routines
defining 1-9
RPI 3-4, 3-6
RS-232 5-1
RSLinx
configuring EtherNet/IP network
parameters 6-6
RSLogix 5000
configuring network parameters 6-7
S
scheduling
ControlNet 7-7
serial link
ASCII device 5-11
configuring communications driver 5-5
configuring serial port 5-3
configuring system for 5-1
DF1 point-to-point station 5-6
master 5-9
master station 5-9
master/slave 5-8
remote connection 5-7
slave 5-8
specifications A-1
specifications A-1
electrical A-1
environmental A-1
EtherNet/IP A-1
memory A-1
serial port A-1
Speed Control
communication format 2-6
system overhead percentage 1-9
T
tags
aliases 3-14
consuming ControlNet 7-16
consuming EtherNet/IP 6-18
producing ControlNet 7-16
producing EtherNet/IP 6-17
tasks
defining 1-6
task priorities 1-7
Turning Drive Off 1-2, 2-1, 3-1, 4-1, 5-1, 6-1,
7-1, 8-1, 9-1, B-1
U
Unsupported Motion Commands C-1
User-Defined 1
communication format 2-9
User-Defined 2
communication format 2-10
user-defined data types C-2
V
virtual backplane 1-12
www.rockwellautomation.com
Power, Control and Information Solutions Headquarters
Americas: Rockwell Automation, 1201 South Second Street, Milwaukee, WI 53204-2496 USA,Tel: (1) 414.382.2000, Fax: (1) 414.382.4444
Europe/Middle East/Africa: Rockwell Automation, Vorstlaan/Boulevard du Souverain 36, 1170 Brussels, Belgium,Tel: (32) 2 663 0600, Fax: (32) 2 663 0640
Asia Pacific: Rockwell Automation, Level 14, Core F, Cyberport 3, 100 Cyberport Road, Hong Kong,Tel: (852) 2887 4788, Fax: (852) 2508 1846
Publication 20D-UM003B-EN-P – January 2006
Supersedes 20D-UM003A-EN-P – July 2004
Copyright © 2006 Rockwell Automation, Inc. All rights reserved. Printed in USA.
Allen-Bradley
DriveLogix 5730 Controller
User Manual